Healthcare has undoubtedly brought many advancements through information technology. Specifically, healthcare informatics involves the use of various technologies, data management and communication systems to collect,...
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Multi-task learning (MTL) is a powerful technique in machine learning that enables the simultaneous training of multiple tasks. In this paper, we propose a novel MTL approach for the recognition of emotions, speakers,...
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A state-dependent discrete memoryless multiple access channel is considered to model an integrated sensing and communication system, where two transmitters wish to convey messages to a receiver while simultaneously es...
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Previous researchers conducting Just-In-Time (JIT) defect prediction tasks have primarily focused on the performance of individual pre-trained models, without exploring the relationship between different pre-trained m...
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In the ever-growing field of radio communications, better ways of modeling and boosting channels are needed, especially for channels that change location in the near field. Here, we present a new way to use deep learn...
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Part of individuals infected by SARS-CoV-2 experiences long-lasting effects that include a wide range of symptoms, with fatigue being one of the most common complaints. Self-reported fatigue can have different manifes...
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In this work, we present a novel solution aimed at improving robotic manipulators' performance in contact tasks. Inspired by the human motor control system, which relies on a feedforward mechanism to anticipate an...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
In this work, we present a novel solution aimed at improving robotic manipulators' performance in contact tasks. Inspired by the human motor control system, which relies on a feedforward mechanism to anticipate and plan movements based on the physical properties of the target environment, our approach plans the robot's motion during the reaching phase, prior to contact. To validate our approach, we conducted experiments using the KUKA youBot arm in two distinct environments, represented by soft and hard materials. Results showed that the robot exhibited compliant behavior, with an average reduction of 71% in overshoot, 60% in rise-time, and 68% steady-state error of the force control response during contact.
Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are nece...
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Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.
The generalization of the use of electronic systems and their integration in industrial systems and different aspects of modern life (internet of things, electric vehicles, robotics, smart grids), give rise to new cha...
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Most large-scale systems including self-adaptive systems utilize feature models(FMs)to represent their complex architectures and benefit from the reuse of commonalities and variability ***-adaptive systems(SASs)are ca...
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Most large-scale systems including self-adaptive systems utilize feature models(FMs)to represent their complex architectures and benefit from the reuse of commonalities and variability ***-adaptive systems(SASs)are capable of reconfiguring themselves during the run time to satisfy the scenarios of the requisite ***,reconfiguration of SASs corresponding to each adaptation of the system requires significant computational time and *** process of configuration reuse can be a better alternative to some contexts to reduce computational time,effort and ***,systems’complexity can be reduced while the development process of systems by reusing elements or *** are considered one of the new ways of reuse process that are able to introduce new opportunities for the reuse process beyond the conventional system *** current FM-based modelling techniques represent,manage,and reuse elementary features to model SASs concepts,modeling and reusing configurations have not yet been *** this context,this study presents an extension to FMs by introducing and managing configuration features and their reuse *** results demonstrate that reusing configuration features reduces the effort and time required by a reconfiguration process during the run time to meet the required scenario according to the current context.
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