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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Huang, Yongshan Wang, Xin Liang, Dingkun Xiong, Jiaming Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNS Canada

ISBN: (纸本)9798350307320

Good trajectory tracking results are the basis for the implementation of other upper-level algorithms in powered lower limb prostheses, which rely on dynamics modeling and good parameter identification. However, powered lower limb prosthesis are human-robot coupled systems with human-inthe-loop, and it has been a challenge to model them as well as to perform parameter identification. This paper proposes a modeling method that can realize the decoupling of human-machine, and by constructing the linearized models of human-machine coupled system and prosthetic subsystem about the physical parameter sets respectively, and finally obtaining the relationship of their corresponding physical parameter sets, thus the method of indirectly identifying the parameters of human-machine coupled system through the prosthetic subsystem can be realized. The experimental results verify the feasibility and effectiveness of the method proposed in this paper. And the experimental results also shows that prosthetic controller should take advantage of dynamic of hip motion in order to make the wearer more comfortable and fluid when swinging the leg, and will also make the prosthesis more energy efficient. © 2023 IEEE.

关键词： Energy efficiency

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Planar Transformer with High Leakage Inductance Integration for Resonant Converters

Planar Transformer with High Leakage Inductance Integration ...

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2024 IEEE Energy Conversion Congress and Exposition, ECCE 2024

作者： Zhu, Liyan Li, Qiang Virginia Polytechnic and State University Center for Power Electronics Systems Bradley Departement of Electrical and Computer Engineering BlacksburgVA24061 United States

ISBN: (纸本)9798350376067

Isolated resonant converters, such as LLC and CLLC converters, are widely utilized in various applications, including electric vehicles and data center power supplies, due to their high efficiency and simple control. To further improve power density and reduce the size of resonant converters, the resonant inductor is often implemented using leakage inductance. However, the integrated leakage inductance is typically limited, which constrains the voltage gain range of the converter, particularly in planar transformers. To enable high voltage gain resonant converters with compact planar transformers, this paper proposes a novel transformer structure that allows for high and wide-range leakage inductance integration while maintaining a compact size and minimizing transformer loss. The core structure and design procedure are detailed in this paper. To validate the design, a 6.6 kW CLLC converter was designed and tested with the proposed transformer, demonstrating a peak efficiency of over 97%. © 2024 IEEE.

关键词： Resonant converters

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Community Detection at scale: A comparison study among Apache Spark and Neo4j 26

Community Detection at scale: A comparison study among Apach...

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26th Pan-Hellenic Conference on Informatics, PCI 2022

作者： Kalogeras, Georgios Tsakanikas, Vassilios Ballas, Ioannis Aggelopoulos, Vassilios Tampakas, Vassilios Department of Electrical and Computer Engineering Distributed Intelligent Systems and Data Lab University of Peloponnese Greece

ISBN: (纸本)9781450398541

The proliferation of data generation devices, including IoT and edge computing has led to the big data paradigm, which has considerably placed pressure on well-established relational databases during the last decade. Researchers have proposed several alternative database models in order to model the captured data more efficiently. Among these approaches, graph databases seem the most promising candidate to supplement relational schemes. Within this study, a comparison is performed among Neo4j, one of the leading graph databases, and Apache Spark, a unified engine for distributed large-scale data processing environment, in terms of processing limits. More specifically, the two frameworks are compared on their capacity to execute community detection algorithms. © 2022 ACM.

关键词： Graph Databases

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Characterization of Complex Permittivity of Microwave Substrates in Sub-THz/THz Range

Characterization of Complex Permittivity of Microwave Substr...

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European Conference on Microwave

作者： Milad Entezami Seyed Ali Hosseini Farahabadi Mohammad-Reza Nezhad-Ahmadi Department of Electrical and Computer Engineering Center for Intelligent Antenna and Radio Systems (CIARS) University of Waterloo Canada

ISBN: (数字)9782874870774

ISBN: (纸本)9798350385892

In this paper, a study on the characterization of dielectric substrates in the sub-terahertz (sub-THz) and terahertz (THz) frequency ranges is presented using a Vector Network Analyzer (VNA)-based quasi-optical measurement setup and time-domain spectroscopy (TDS). Complex permittivity calculation methods based on four-parabolic-mirror systems are investigated over the frequency range of 75-110 GHz (W-band), 140–220 GHz (G-Band), and 400-1000 GHz. Our primary focus is on accurately extracting permittivity and loss tangent of dielectric substrates, specifically targeting the widely used Rogers/Duroid series PCB substrates which are commonly used in microwave applications. The purpose of this study is to gain a better understanding of these substrates for sub-THz and THz multilayered electronic and packaging applications.

关键词： Microwave measurement Time-frequency analysis Permittivity measurement Dielectric substrates Microwave communication Dielectric loss measurement Frequency measurement Permittivity Substrates Terahertz communications

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GENERALIZED BAYES SURE FOR MULTIVARIATE NORMAL DISTRIBUTION UNDER BALANCED-QUADRATIC LOSS

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Journal of Mathematical Sciences (United States) 2024年第2期280卷 262-274页

作者： Karamikabir, Hamid Afshari, Mahmoud Karamikabir, Nasrin Kiaei, Seyed Faridoddin Department of Statistics Faculty of Intelligent Systems Engineering and Data Science Persian Gulf University Bushehr Iran Department of Mathematics Hamedan Branch Islamic Azad University Hamedan Iran School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

One of the most important subjects in statistics is the theory of estimation. In this paper, we consider the generalized Bayes shrinkage estimator of the mean vector for multivariate normal distribution with the unknown covariance matrix under balanced quadratic loss. Also, we find the minimax and admissible estimator of the mean vector based on the generalized Bayes estimator. We obtain Stein’s unbiased risk estimator (SURE) threshold with a generalized Bayes shrinkage estimator and we find the wavelet shrinkage generalized Bayes SURE. Finally, we present a simulation study to test the validity of the generalized Bayes SURE and the concrete compressive strength dataset is given to test the efficiency of this estimator in denoising. © 2024, The Author(s), under exclusive licence to Springer Nature Switzerland AG.

关键词： Balanced-quadratic loss Generalized bayes estimator Shrinkage estimaton Shrinkage wavelet SURE threshold

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Gas Density Sensors Integration on Heterogeneous Mobile Robots 8

Gas Density Sensors Integration on Heterogeneous Mobile Robo...

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8th International Conference on Information Technology, Information systems and electrical engineering, ICITISEE 2024

作者： Jotham, Adrian Ferdin Jimananda, Aulia Samudra Adhiwangsa, Fahmi Jati, Agung Nugroho Shiddieqy, Hasbi Ash School of Electrical Engineering Telkom University Department of Computer Engineering Indonesia The University Center of Excellence for Intelligent Sensing-IoT Telkom University Indonesia The University Center of Excellence Energy and Climate Change Telkom University Indonesia

ISBN: (纸本)9798350368970

Gas measurement to describe a gas dispersion throughout the indoor environment was developed using two heterogeneous mobile sensors. They were applied to two different heights of measurement. These heterogeneities are related to the sensor type and sensor's carrier. They affect the measurement results in terms of accuracy and accumulative information. Calibration and data synchronization were required to keep the overall results representative with error minimization. The experiment-based mobile measurements were conducted by utilizing a nano-UA V and a UGV in an indoor environment. The result indicates that the gas dispersion can be generated at each height. The variation of the measurement results was influenced by the wind direction, gas mass, sensor sensitivities, and even the UAV's turbulences. © 2024 IEEE.

关键词： Microrobots

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Tracking-Differentiator-Based Sliding-Mode Control for Tracking Control

Tracking-Differentiator-Based Sliding-Mode Control for Track...

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2023 China Automation Congress, CAC 2023

作者： Li, Wenfei Li, Boyuan Hua, Wei Huang, Chao Du, Haiping Xing, Haitao Research Center for Intelligent Transportation Zhejiang Lab Hangzhou China The Hong Kong Polytechnic University Department of Industrial & Systems Engineering Hong Kong School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong Australia

ISBN: (纸本)9798350303759

Tracking control has attracted significant attention because of its close link with industrial applications. Tracking control requires that a control algorithm can ensure that an actuator follows control commands, with a fast response anti-disturbance abilities and small chattering. A tracking-differentiator-based sliding-mode control approach for tracking control is proposed in this paper. A tracking differentiator has the ability to obtain the desired signal's differential signal, even when there is noise in the desired signal. A differential signal is often required in the design of sliding-mode controllers. When tracking differentiator is applied to a sliding-mode controller, the chattering of the control commands (caused by noise disturbance) can be reduced while the fast response of the sliding-mode controller can be maintained. The simulation results show that the proposed controller is effective. © 2023 IEEE.

关键词： Sliding mode control

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Pattern Matching of Industrial Alarm Floods Using Word Embedding and Dynamic Time Warping

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 1096-1098页

作者： Wenkai Hu Xiangxiang Zhang Jiandong Wang Guang Yang Yuxin Cai School of Automation China University of GeosciencesWuhan 430074Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex SystemsWuhan 430074 Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

Dear Editor,This letter proposes a new pattern matching method based on word embedding and dynamic time warping(DTW)to identify groups of similar alarm ***,alarm messages are transformed into numeric values that represent alarms and also reflect the relationships between alarm ***,similarities between numerically encoded alarm flood sequences are calculated by DTW and groups of similar floods are identified via *** effectiveness of the proposed method is demonstrated by a case study with alarm&event data obtained from a public industrial simulation model.

关键词： Word Alarm DTW

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Active Non-Line-of-Sight Imaging through Dense Fog via Hybrid intelligent Enhancement Perception System 6

Active Non-Line-of-Sight Imaging through Dense Fog via Hybri...

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6th Conference on Frontiers in Optical Imaging and Technology: Novel Imaging systems

作者： Xu, Ziqin Zhang, Yanxin Zhao, Haopeng Miao, Fengchang Liu, Hao Jin, Shaohui Xu, Mingliang School of Computer and Artificial Intelligence Zhengzhou University Zhengzhou China Engineering Research Center of Intelligent Swarm Systems Ministry of Education Zhengzhou China National Supercomputing Center in Zhengzhou Zhengzhou China

ISBN: (数字)9781510679719

ISBN: (纸本)9781510679702

Non-line-of-sight(NLOS) imaging through fog has been extensively researched in the fields of optics and computer vision. However, due to the influence of strong backscattering and diffuse reflection generated by the dense fog on the temporal-spatial correlations of photons returning from the target object, the reconstruction quality of most existing methods is significantly reduced under dense fog conditions. In this study, we define the optical imaging process in a foggy environment and propose a hybrid intelligent enhancement perception(HIEP) system based on Time-of-Flight(ToF) methods and physics-driven Swin transformer(ToFormer) to eliminate scattering effects and reconstruct targets under heterogeneous fog with varying optical thickness. Furthermore, we assembled a prototype of the HIEP system and established the Active Non-Line-of-Sight Imaging Through Dense Fog(NLOS-TDF) dataset to train the reconstruction network. The experimental results demonstrate that even in dense fog short-distance scenarios with an optical thickness of up to 2.5 and imaging distances less than 6 meters, our approach achieves clear imaging of the target scene, surpassing existing optical and computer vision methods. © 2024 SPIE.

关键词： Fog

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Position Control of Flexible Joint Carts Using Adaptive Generalized Dynamics Inversion

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computers, Materials & Continua 2022年第3期70卷 4691-4705页

作者： Ibrahim M.Mehedi Mohd Heidir Mohd Shah Soon Xin Ng Abdulah Jeza Aljohani Mohammed El-Hajjar Muhammad Moinuddin Department of Electrical and Computer Engineering(ECE) King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddah21589Saudi Arabia Next Generation Wireless Research Group University of SouthamptonUK

This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible *** proposed AGDI control law will be comprised of two control *** baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control *** control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized *** boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode *** discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering *** closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is *** computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.

关键词： Adaptive control generalized dynamic inversion moore-penrose generalized inverse sliding mode control lyapunov stability semi-global asymptotic stability

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