检索结果-内蒙古大学图书馆

27th International Conference on electrical Machines and systems, ICEMS 2024

作者： Uchida, Yamato Ogawa, Kazuki Kobayashi, Ikkei Kuroda, Jumpei Uchino, Daigo Ikeda, Keigo Kato, Taro Endo, Ayato Narita, Takayoshi Kato, Hideaki Tokai University Course of Mechanical Engineering Kanagawa Hiratsuka Japan Aichi University of Technology Department of Electronics and Robotics Aichi Gamagori Japan National Institute of Standards and Technology Tokai University Kanagawa Hiratsuka Japan Research of Institute of Science and Technology Tokai University Kanagawa Hiratsuka Japan Numazu National College of Technology Department of Mechanical Engineering Shizuoka Numazu Japan Hokkaido University of Science Department of Mechanical Engineering Hokkaido Sapporo Japan Tokyo University of Technology Department of Mechanical Engineering Hachioji Tokyo Japan Fukuoka Institute of Technology Department of Electrical Engineering Fukuoka Fukuoka Japan Tokai University Department of Mechanical Systems Engineering Kanagawa Hiratsuka Japan

ISBN: (纸本)9784886864406

In thin steel plate production lines, contact conveying by rollers is used, which sometimes results in scratches and plating defects on the steel plate surface. To solve this problem, non-contact conveyance by magnetic levitation is expected. When thin steel plates are magnetically levitated, magnetic levitation control becomes difficult due to deflection caused by the flexibility of the plate. Therefore, we have proposed a curved magnetic levitation system that improves the levitation stability by curving the steel plate for magnetic levitation. However, the dynamic behavior of thin steel plates during bending magnetic levitation have not been clarified. In this report, we performed a levitation experiments of bending steel plate, and input disturbance to the bending levitation device. From the measured response of levitated and oscillated steel plate, it was confirmed that the bending thin steel plate was in rigid body motion due to the disturbance. © 2024 The institute of electrical Engineers of Japan.

关键词： Magnetic levitation

来源：评论

学校读者我要写书评

暂无评论

Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach

Optimal Control for Clutched-Elastic Robots: A Contact-Impli...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Dennis Ossadnik Vasilije Rakčević Mehmet C. Yildirim Edmundo Pozo Fortunić Hugo T. M. Kussaba Abdalla Swikir Sami Haddadin Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Albaida Libya

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic motions even with limited motor power. However, the time-dependency of this energy storage and release mechanism remains one of the major challenges in controlling elastic robots. A possible remedy is the introduction of locking elements (i.e. clutches and brakes) in the drive train. This gives rise to a new class of robots, so-called clutched-elastic robots (CER), with which it is possible to precisely control the energy-transfer timing. A prevalent challenge in the realm of CERs is the automatic discovery of clutch sequences. Due to complexity, many methods still rely on pre-defined modes. In this paper, we introduce a novel contact-implicit scheme designed to optimize both control input and clutch sequence simultaneously. A penalty in the objective function ensures the prevention of unnecessary clutch transitions. We empirically demonstrate the effectiveness of our proposed method on a double pendulum equipped with two of our newly proposed clutch-based Bi-Stiffness Actuators (BSA).

关键词： Potential energy Prevention and mitigation Optimal control Switches Motors Linear programming Timing

来源：评论

学校读者我要写书评

暂无评论

An in-Contact Robotic System for the Process of Desoldering PCB Components

arXiv

引用

arXiv 2024年

作者： Santos, Silvia Marques, Lino Neto, Pedro Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal University of Coimbra CEMMPRE ARISE Department of Mechanical Engineering Coimbra3030-788 Portugal

The disposal and recycling of electronic waste (e-waste) poses a significant global challenge. The disassembly of components is a crucial step in achieving an efficient recycling process, avoiding destructive methods. While manual disassembly remains the norm due to the diversity and complexity of components, there is a growing interest in automating the process to enhance efficiency and reduce labor costs. This study endeavors to automate the desoldering process and the extraction of components from printed circuit boards (PCBs) by implementing a robotic solution. The proposed strategy encompasses multiple phases, one of which involves the precise contact of the developed robotic tool with the components on the PCB. The tool was designed to exert a controlled force on the PCB component, thereby efficiently desoldering it from the board. Results demonstrate the feasibility of achieving a high success rate in removing PCB components, including the ones from mobile phones. The desoldering success rate observed is approximately 100% for the larger components. © 2024, CC BY.

关键词： Printed circuit boards

来源：评论

学校读者我要写书评

暂无评论

Time-varying EEG spectral power predicts evoked and spontaneous fMRI motor brain activity

arXiv

引用

arXiv 2025年

作者： Mehta, Neil Gonçalves, Inês Montagna, Alberto Fleury, Mathis Caetano, Gustavo Esteves, Inês Vourvopoulos, Athanasios Grover, Pulkit Figueiredo, Patrícia Institute for Systems and Robotics Department of Bioengineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Electrical and Computer Engineering Department Carnegie Mellon University United States

Simultaneous EEG-fMRI recordings are increasingly used to investigate brain activity by leveraging the complementary high spatial and high temporal resolution of fMRI and EEG signals respectively. It remains unclear, however, to what degree these two imaging modalities capture shared information about neural activity. Here, we investigate whether it is possible to predict both task-evoked and spontaneous fMRI signals of motor brain networks from EEG time-varying spectral power using interpretable models trained for individual subjects with Sparse Group Lasso regularization. Critically, we test the trained models on data acquired from each subject on a different day and obtain statistical validation by comparison with appropriate null models as well as the conventional EEG sensorimotor rhythm. We find significant prediction results in most subjects, although less frequently for resting-state compared to task-based conditions. Furthermore, we interpret the model learned parameters to understand representations of EEG-fMRI coupling in terms of predictive EEG channels, frequencies, and haemodynamic delays. In conclusion, our work provides evidence of the ability to predict fMRI motor brain activity from EEG recordings alone across different days, in both task-evoked and spontaneous conditions, with statistical significance in individual subjects. These results present great potential for translation to EEG neurofeedback applications. © 2025, CC BY.

关键词： Image coding

来源：评论

学校读者我要写书评

暂无评论

TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition

TReR: A Lightweight Transformer Re-Ranking Approach for 3D L...

引用

International Conference on Intelligent Transportation

作者： Tiago Barros Luís Garrote Martin Aleksandrov Cristiano Premebida Urbano J. Nunes Department of Electrical and Computer Engineering University of Coimbra Institute of Systems and Robotics Portugal Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin

Autonomous driving systems often require reliable loop closure detection to guarantee reduced localization drift. Recently, 3D LiDAR-based localization methods have used retrieval-based place recognition to find revisited places efficiently. However, when deployed in challenging real-world scenarios, the place recognition models become more complex, which comes at the cost of high computational demand. This work tackles this problem from an information-retrieval perspective, adopting a first-retrieve-then-re-ranking paradigm, where an initial loop candidate ranking, generated from a 3D place recognition model, is re-ordered by a proposed lightweight transformer-based re-ranking approach (TReR). The proposed approach relies on global descriptors only, being agnostic to the place recognition model. The experimental evaluation, conducted on the KITTI Odometry dataset, where we compared TReR with s.o.t.a. re-ranking approaches such as αQE and SGV, indicate the robustness and efficiency when compared to αQE while offering a good trade-off between robustness and efficiency when compared to SGV.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Distributed operational management of microgrids: a second order dual update approach

引用

IFAC-PapersOnLine 2023年第2期56卷 1540-1545页

作者： Giulio Ferro Michela Robba Federico Delfino Rabab Haider Anuradha M. Annaswamy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02141 USA Department of of Electrical Electronic Telecommunications Engineering and Naval Architecture University of Genova

This paper develops a Distributed Energy Management System (EMS) to optimally allocate electric and thermal power production in a polygenerative microgrid. The EMS problem is formulated as a multiperiod convex optimization problem and solved using AL-SODU, a new distributed algorithm based on the augmented Lagrangian method with second order dual updates. The proposed AL-SODU algorithm significantly outperforms state of the art algorithms employing first order dual updates, with 15-times speedup in convergence speed. A case study of the EMS based on AL-SODU is conducted on the Smart Polygeneration Microgrid (SPM) located on the Savona Campus of University of Genova (Italy). The EMS determines the optimal schedules for electric and thermal power plants every 15-minutes. This real time scheduling of the microgrid is enabled by the Al-SODU algorithm, which solves the scheduling problem in 1.86s.

关键词： Microgrids distributed control second order methods

来源：评论

学校读者我要写书评

暂无评论

Hyperbolic Delaunay Geometric Alignment

arXiv

引用

arXiv 2024年

作者： Medbouhi, Aniss Aiman Marchetti, Giovanni Luca Polianskii, Vladislav Kravberg, Alexander Poklukar, Petra Varava, Anastasia Kragic, Danica Division of Robotics Perception and Learning Department of Intelligent Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden

Hyperbolic machine learning is an emerging field aimed at representing data with a hierarchical structure. However, there is a lack of tools for evaluation and analysis of the resulting hyperbolic data representations. To this end, we propose Hyperbolic Delaunay Geometric Alignment (HyperDGA) – a similarity score for comparing datasets in a hyperbolic space. The core idea is counting the edges of the hyperbolic Delaunay graph connecting datapoints across the given sets. We provide an empirical investigation on synthetic and real-life biological data and demonstrate that HyperDGA outperforms the hyperbolic version of classical distances between sets. Furthermore, we showcase the potential of HyperDGA for evaluating latent representations inferred by a Hyperbolic Variational Auto-Encoder. © 2024, CC BY.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

Rapid Maintenance based improved design for omnidirectional controlled wheels for VirtuSphere system

Rapid Maintenance based improved design for omnidirectional ...

引用

International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Lidia Cristina Bazavan Horatiu Roibu Daniela Coman Stefan Irinel Cismaru Anca Petrisor Nicu George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania Engineering and Management of the Technological Systems Department Faculty of Mechanics University of Craiova Craiova Romania Electrical Energy and Aerospace Engineering Department Faculty of Electrical Engineering University of Craiova Craiova Romania

Designing for rapid maintenance requires an approach whereby the replacement of rapidly wearing sub-assemblies can be easily replaced while ensuring that the degree of wear can be tracked in real-time if possible. The redesign of the movement system of the Virtusfera platform by the authors previously led to an omnidirectional platform with increased integration facilities in virtual environments. The article presents two solutions for redesigning some subsystems that make up the new experimentally validated solution, presenting at the same time the study based on which the subsystems with the lowest reliability were identified and a proposal for a real-time tracking solution for those subsystems. Numerical simulations of the two solutions are presented, and conclusions and directions are formulated regarding the practical implementation of these subsystems based on the concept of design based on rapid maintenance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Theoretical and Practical Framework for Evaluating Uncertainty Calibration in Object Detection

arXiv

引用

arXiv 2023年

作者： Conde, Pedro Lopes, Rui L. Premebida, Cristiano Institute os Systems and Robotics Department Of Electrical and Computer Engineering University of Coimbra Portugal Critical Software S.A. Portugal

The proliferation of Deep Neural Networks has resulted in machine learning systems becoming increasingly more present in various real-world applications. Consequently, there is a growing demand for highly reliable models in many domains, making the problem of uncertainty calibration pivotal when considering the future of deep learning. This is especially true when considering object detection systems, that are commonly present in safety-critical applications such as autonomous driving, robotics and medical diagnosis. For this reason, this work presents a novel theoretical and practical framework to evaluate object detection systems in the context of uncertainty calibration. This encompasses a new comprehensive formulation of this concept through distinct formal definitions, and also three novel evaluation metrics derived from such theoretical foundation. The robustness of the proposed uncertainty calibration metrics is shown through a series of representative experiments. Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

TReCiM: Lower Power and Temperature-Resilient Multibit 2FeFET-1T Compute-in-Memory Design 24

TReCiM: Lower Power and Temperature-Resilient Multibit 2FeFE...

引用

43rd International Conference on Computer-Aided Design, ICCAD 2024

作者： Zhou, Yifei Kämpfe, Thomas Ni, Kai Amrouch, Hussam Zhuo, Cheng Yin, Xunzhao Zhejiang University Hangzhou China Fraunhofer IPMS Dresden Germany Department of Electrical Engineering University of Notre Dame Notre Dame United States Technical University of Munich TUM School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Munich Germany Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China

ISBN: (纸本)9798400710773

Compute-in-memory (CiM) emerges as a promising solution to solve hardware challenges in artificial intelligence (AI) and the Internet of Things (IoT), particularly addressing the"memory wall" issue. By utilizing nonvolatile memory (NVM) devices in a crossbar structure, CiM efficiently accelerates multiply-accumulate (MAC) computations, the crucial operations in neural networks and other AI models. Among various NVM devices, Ferroelectric FET (FeFET) is particularly appealing for ultra-low-power CiM arrays due to its CMOS compatibility, voltage-driven write/read mechanisms and high ION/IOFF ratio. Moreover, subthreshold-operated FeFETs, which operate at scaling voltages in the subthreshold region, can further minimize the power consumption of CiM array. However, subthreshold-FeFETs are susceptible to temperature drift, resulting in computation accuracy degradation. Existing solutions exhibit weak temperature resilience at larger array size and only support 1-bit. In this paper, we propose TReCiM, an ultra-low-power temperature-resilient multibit 2FeFET-1T CiM design that reliably performs MAC operations in the subthreshold-FeFET region with temperature ranging from 0°C to 85°C at scale. We benchmark our design using NeuroSim framework in the context of VGG-8 neural network architecture running the CIFAR-10 dataset. Benchmarking results suggest that when considering temperature drift impact, our proposed TReCiM array achieves 91.31% accuracy, with 1.86% accuracy improvement compared to existing 1-bit 2T-1FeFET CiM array. Furthermore, our proposed design achieves 48.03 TOPS/W energy efficiency at system level, comparable to existing designs with smaller technology feature sizes. © 2024 Copyright is held by the owner/author(s).

关键词： MISFET devices

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：