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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICrA 2011)

作者： Ji-Hun Bae Woosung Yang Sang-rok Oh Bum-Jae You doik Kim Yonghwan Oh Department of Applied Robot Technology Korea Institute of Industrial TechnologyAnsan R&D Center127 Human Factors & Devices Research Team Central Advanced Research & Engineering Institute of Hyundai M Cognitive Robotics Center Korea Institute of Science & TechnologyP.O. BOX 131CheongryangSeoul 130

In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of dOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant dOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.

关键词： robot arm control Human-like motion redundant robots Manipulation

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Minimization of Image Processing resources and deduplication for recognition of Objects on Conveyor Belt

Minimization of Image Processing Resources and Deduplication...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hye-Gyu Moon Kwang-Hee Lee Tae-Yong Kuc Hyun-Su Kim Kyung-Tae Nam Ji-Soo Shin School of Electrical and Electronics Engineering SungKyunKwan University Suwon Korea Robot R&D Group Korea Institute of Industrial Technology Ansan Korea Solworks Dongbaekjungang-ro16beon-gil Giheung-gu Yongin-si Gyeonggi-do Republic of Korea

This study aimed to enable the recognition of the positions and rotation data of objects using the machine vision technology in the packaging process and the pick& place operations by robots using the data. For these objectives, this study proposed the methods of controlling the trigger signals of the camera and minimizing the imaging processing CPU resources in consideration of the recognition range of the campera, size of objects and speed of the conveyor belt. In addition, this study also tried to resolve the problem of an object being recognized as separate objects in the multiple frames of the camera.

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A New Calibration Method and Experimental Study for Kinematic Parameters of Industrial robot

A New Calibration Method and Experimental Study for Kinemati...

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Artificial Intelligence and Electromechanical Automation (AIEA), International Conference on

作者： Honghua Zhao Jian Zhao Yifei Lin Qifei Han Mianpeng Chen University of Jinan School of Mechanical Engineering Jinan China Shandong University School of Control Science and Engineering Jinan China Shandong Institute of Intelligent Robot & Applied Technology Jining China CNC System R&D Department GSK CNC Equipment Co. Ltd. Guangzhou China

ISBN: (数字)9781728182889

ISBN: (纸本)9781728182896

The accuracy of industrial robot kinematics parameters directly affects its absolute positioning accuracy. Based on Modify denavit-Hartenberg (Md-H) kinematics theory, a more accurate calibration method for kinematic parameters of industrial robots is proposed in this paper. It takes the kinematics parameters, deceleration ratio and coupling coefficient of the robot as error parameters to establish the error model. The calibration experiment and accuracy verification experiment are designed by laser tracker. After the introduction of the reduction ratio and the coupling coefficient calibration, the absolute positioning error of the robot in all directions has been greatly improved, and the overall average accuracy of the robot is increased by 91.42% compared with the uncalibrated, and is increased by 81.02% compared with the without introducing the deceleration ratio and coupling coefficient.

关键词： component industrial robot denavit-Hartenberg kinematics error model calibration experiment accuracy verification experiment industrial robots error model CALIBrATION METHOdS robot kinematics deceleration rate absolute location laser trackers

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day-Ahead Forecasting of Solar Irradiance & PV Power Output Through Statistical Machine Learning Methods

Day-Ahead Forecasting of Solar Irradiance & PV Power Output ...

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Saudi Arabia Smart Grid Conference (SASG)

作者： Yiannis Kamarianakis Yannis Pantazis Evangelia Kalligiannaki Theodoros d. Katsaounis Konstantinos Kotsovos Issam Gereige Marwan Abdullah Aqil Jamal Athanasios Tzavaras Data Science Group Institute of Applied and Computational Mathematics Foundation for Research and Technology-Hellas Greece Dept. of Mathematics and Applied Mathematics University of Crete Greece Carbon Management Division Saudi Aramco R&D Center Dhahran Saudi Arabia Computer Electrical and Mathematical Sciences and Engineering Division King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia

Energy production from solar photovoltaic (PV) plants is unpredictable, mainly due to the stochastic formation and movement of clouds or aerosol - dust particles which scatter or disperse solar radiation. Accurate forecasts of PV output are essential to distribution and Transportation System Operators as they assist efficient solar energy trading and management of electricity grids. This work evaluates an autoregressive, computationally-light KNN-regression scheme (TSFKNN) for hourly, day-ahead forecasts of solar irradiance and energy yield of various PV technologies. The model is being tested and validated using data measured in Thuwal, Saudi Arabia. The available measured records span a 60-month period. The developed forecasting models are designed for online systems and provide increased levels of accuracy and low computational cost. Several parametric and nonparametric specifications, coupled with conventional versus outlier-robust estimation procedures are tested, in order to derive an optimal month-specific daily profile (MdP). Current results demonstrate that including intraday variability to the monthly-based irradiance models achieve improved predictive accuracy between 10% and 25% on average.

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Borate glasses for radiation protection: efficiency boost through Nd 2 O 3 and BaO inclusion

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radiation Physics and Chemistry 2025年

作者： M.I. Sayyed Abdel-Gawad Esraa H K.A. Mahmoud Taha A. Hanafy Mayeen Uddin Khandaker M. Elsafi Department of Physics Faculty of Science Isra University Amman Jordan Renewable Energy and Environmental Technology Center University of Tabuk Tabuk 47913 Saudi Arabia Department of Physics and Technical Sciences Western Caspian University Baku Azerbaijan Environmental Studies Department Institute of Graduate Studies and Research 21526 Alexandria University Egypt R&D Office Vice Presidency for Scientific Research and Innovation Imam Abdulrahman Bin Faisal University P.O. Box 1982 Dammam 31441 Saudi Arabia Ural Federal University St. Mira 19 620002 Yekaterinburg Russia Department of Physics Faculty of Science University of Tabuk Tabuk Saudi Arabia Applied Physics and Radiation Technologies Group CCDCU Faculty of Engineering and Technology Sunway University Bandar Sunway 47500 Selangor Darul Ehsan Malaysia Department of Physics College of Science Korea University 145 Anam-ro Seongbuk-gu Seoul 02841 Republic of Korea Faculty of Graduate Studies Daffodil International University Daffodil Smart City Birulia Savar Dhaka 1216 Bangladesh Physics Department Faculty of Science Alexandria University Alexandria 21511 Egypt

This study synthesized a novel borate-based glass matrix and evaluated its radiation attenuation capability. Melt-quenching was used to prepare four glass samples with different concentrations from zinc borate glasses. To increase the glass density and the attenuation performance as a result, neodymium oxide (Nd 2 O 3 ) and barium oxide (BaO) gradually substituted boron oxide (B 2 O 3 ) in the glass network. The well-known narrow beam method was used to experimentally attain the linear attenuation coefficient (LAC), and the results were validated through Phy-X software. There was strong theoretical–experimental data agreement, with less than 7 % deviation at all energy levels. The half value layer (HVL) showed a 56 % drop (from 0.097 to 0.043 cm) at 0.059 MeV and an 18 % drop (from 2.537 to 2.084 cm) at 0.662 MeV, and this difference is all due to the increase in Nd 2 O 3 concentration. The radiation protection efficiency (rPE) results indicate an improvement in the glasses' ability to shield photons with increasing Nd 2 O 3 content since it increased from 23.9 % to 28.3 % at 0.662 MeV and from 18.4 % to 21.4 % at 1.173 MeV as a result of increasing the Nd 2 O 3 content from 2 to 8 mol%.

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Computational biology in topical bioactive peptide discovery for cosmeceutical application:a concise review

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Biomedical Engineering Communications 2023年第3期2卷 7-15页

作者： Xu-Hui Li Wen-rou Su Fei-Fei Wang Ke Li Jing-Yong Zhu Si-Yu Zhu Si-Ning Kang Cong-Fen He Jun-Xiang Li Xiao Lin AGECODE R&D Center Yangtze Delta Region Institute of Tsinghua UniversityJiaxing 314000China Zhejiang Provincial Key Laboratory of Applied Enzymology Yangtze Delta Region Institute of Tsinghua UniversityJiaxing 314000China Yunnan Botanee Bio-technology Group Co. Ltd.Yunnan 650000China Yunnan Yunke Characteristic Plant Extraction Laboratory Co. Ltd.Yunnan 650000China Shenzhen Accompany Technology Co. LtdShenzhen 518000China College of Life Sciences and Medicine Zhejiang Sci-tech UniversityHangzhou 310018China Harvest Biotech(Zhejiang)Co. Ltd.Jiaxing 314000China School of Beijing Key Lab of Plant Resources Research and Development Beijing Technology and Business UniversityBeijing 100048China School of Life Sciences Northwestern Polytechnical UniversityXi’an 710072China

regenerative medicine and anti-aging research have made great strides at the molecular and cellular levels in dermatology and the medical aesthetic field,targeting potential treatments with skin therapeutic and intervention pathways,which make it possible to develop effective skin regeneration and repair *** the rapid development of computational biology,bioinformatics as well as artificial intelligence(A.I.),the development of new ingredients for regenerative medicine has been greatly accelerated,and the success rate has been *** application cases have appeared in topical skin regeneration and repair *** review will briefly introduce the application of bioactive peptides in skin repair and anti-aging as emerging ingredients in cosmeceutics and emphasize how *** computational biology technology may accelerate the development of innovative peptide molecules and ultimately translate them into potential skin regenerative and anti-aging ***,two research routines have been summarized and current limitations as well as directions were discussed for border applications in future research.

关键词： computational biology artificial intelligence cosmeceutical bioactive peptide regenerative medicine

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Plasmonic nanoparticle-based surface-enhanced raman spectroscopy-guided photothermal therapy: emerging cancer theranostics

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Nanomedicine 2023年第6期18卷 555-576页

作者： Anindita das Hsieh-Chih Tsai Tapas Sen rakesh S Moirangthem Department of Physics Nanophotonics Lab Indian Institute of Technology (Indian School of Mines) Dhanbad Jharkhand 826004 India Graduate Institute of Applied Science & Technology National Taiwan University of Science & Technology Taipei 106 Taiwan Advanced Membrane Materials Center National Taiwan University of Science & Technology Taipei 106 Taiwan R&D Center for Membrane Technology Chung Yuan Christian University Chungli Tao-Yuan 320 Taiwan Nano-biomaterials Research Group School of Natural Sciences Faculty of Science & Technology University of Central Lancashire Preston PR1 2HE UK Department of Physics Manipur University Canchipur Imphal Manipur 795003 India

Optical imaging modalities have emerged as a keystone in oncological research, capable of providing molecular and cellular information on cancer with the advantage of being minimally invasive toward healthy tissues. Photothermal therapy (PTT) has shown great potential, with the exceptional advantages of high specificity and noninvasiveness. Combining surface-enhanced raman spectroscopy (SErS)-based optical imaging with PTT has shown tremendous potential in cancer theranostics (therapeutics + diagnosis). This comprehensive review article provides up-to-date information by exploring recent works focused mainly on the development of plasmonic nanoparticles for medical applications using SErS-guided PTT, including the fundamental principles behind SErS and the plasmon heating effect for PTT.

关键词： cancer theranostics photothermal therapy plasmonic nanoparticles surface-enhanced raman spectroscopy surface functionalization toxicity

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Magneto-photoluminescence of charged excitons from MgxZn1−xO/ZnO heterojunctions

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Physical review B 2013年第8期87卷 085312-085312页

作者： T. Makino Y. Segawa A. Tsukazaki H. Saito S. Takeyama S. Akasaka K. Nakahara M. Kawasaki Correlated Electron Research Group (CERG) and Cross-Correlated Materials Research Group (CMRG) RIKEN–Advanced Science Institute Wako 351-0198 Japan Department of Advanced Material Science University of Tokyo Kashiwa 277-8561 Japan PRESTO Japan Science and Technology Agency Tokyo 102-0075 Japan Institute for Solid State Physics University of Tokyo Kashiwa 277-8581 Japan R&D Headquarters ROHM Co. Ltd. Kyoto 615-8585 Japan Department of Applied Physics and Quantum-Phase Electronics Center (QPEC) University of Tokyo Tokyo 113-8656 Japan

We report on the photoluminescence (PL) properties of MgxZn1−xO/ZnO heterojunctions grown by plasma-assisted molecular-beam epitaxy. Influence of the applied magnetic field (B) on the radiative recombination of the two-dimensional electron gas (2dEG) is investigated up to 54 T. An increase in magnetic field in the range of B ≤ 20 T results in a redshift in the PL. Abrupt lineshape changes in the PL spectra are observed at higher magnetic fields, in correlation with the integer quantum Hall states. We attempt to interpret these features using the conventional model for the 2dEG-related PL based on the transition between the 2dEG and a hole as well as a model taking a bound state effect into account, i.e., a charged exciton. The comparison about the adequateness of these models was made, being in favor of the charged exciton model.

关键词： PHOTOLUMINESCENCE rESEArCH MAGNETIC fields MOLECULAr beam epitaxy ELECTrON gas research QUANTUM dots EXCITON theory

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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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Machine learning-based steering control for automated vehicles utilizing V2X communication

Machine learning-based steering control for automated vehicl...

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Control technology and Applications (CCTA),

作者： Sergei S. Avedisov Chaozhe r. He dénes Takács Gábor Orosz Department of Mechanical Engineering University of Michigan Ann Arbor MI USA Toyota Motor North America R&D - Infotech Labs Mountain View CA USA Navistar Inc. Lisle IL USA Department of Applied Mechanics Budapest University of Technology and Economics Hungary MTA-BME Research Group on Dynamics of Machines and Vehicles Budapest Hungary Department of Civil and Environmental Engineering University of Michigan Ann Arbor MI USA

ISBN: (纸本)9781665436441

A neural network-based controller is trained on data collected from connected human-driven vehicles in order to steer a connected automated vehicle on multi-lane roads. The obtained controller is evaluated using model-based simulations and its performance is compared to that of a traditional nonlinear feedback controller. The comparison of the control laws obtained by the two different approaches provides information about the naturalistic nonlinearities in human steering, and this can benefit the controller development of automated vehicles. The effects of time delay emerging from vehicle-to-everything (V2X) communication, computation, and actuation are also highlighted.

关键词： delay effects roads Conferences robustness Adaptive control Vehicle-to-everything Vehicles

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