检索结果-内蒙古大学图书馆

作者： Hegde, Guruprasad M. Ye, Cang Robinson, Christopher A. Stroupe, Ashley Tunstel, Edward Department of Systems Engineering University of Arkansas at Little Rock Little Rock AR 72204 United States Jaguar Land Rover Ltd. Whitley CV3 4LF United Kingdom FIS Jacksonville FL 32204 United States Advanced Robotic Control Group Mobility and Robotic Systems Section Jet Propulsion Laboratory Pasadena CA 91109 United States Space Department Johns Hopkins University Applied Physics Laboratory Laurel MD 20723 United States

This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil image captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the parameters of wheel sinkage. The segmentation method is based on a graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing wheel sinkage detection methods, the proposed algorithm is more robust to illumination condition, shadows, and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions. © 1996-2012 IEEE.

关键词： Pixels

来源：评论

学校读者我要写书评

暂无评论

Rapid prediction of cervical cancer and high-grade precursor lesions: An integrated approach using low-field ¹H NMR and chemometric analysis

引用

Clinica Chimica Acta 2025年 574卷 120346页

作者： de Souza Leão, Luana Quadros de Andrade, Jelmir Craveiro Marques, Giovanna Melo Guimarães, Cristiane Cunha Vieira de Albuquerque, Rosyana de Fátima e Silva, Alessandra Silva de Araujo, Kamila Pereira de Oliveira, Mikele Praia Gonçalves, Anderson Ferreira Figueiredo, Higino Felipe Lira, Daniel Lourenço Alves, Marina Amaral Conte-Junior, Carlos Adam de Aquino, Priscila Ferreira Chemistry Department Federal University of Amazonas (UFAM) AM Manaus Brazil Analytical and Molecular Laboratorial Center (CLAn) Institute of Chemistry (IQ) Federal University of Rio de Janeiro (UFRJ) Cidade Universitária RJ Rio de Janeiro 21.941-909 Brazil Laboratory of Advanced Analysis in Biochemistry and Molecular Biology (LAABBM) Department of Biochemistry Federal University of Rio de Janeiro (UFRJ) Cidade Universitária RJ Rio de Janeiro 21941-909 Brazil Leonidas and Maria Deane Institute/Fiocruz Amazônia (ILMD/Fiocruz Amazônia) AM Manaus Brazil Fish Technology Laboratory Federal University of Amazonas (UFAM) AM Manaus Brazil Amazonas State Oncology Control Center Foundation (FCECON) AM Manaus Brazil Laboratory of metabolomics applied to systems medicine (Meta2MS) Federal University of Rio de Janeiro (UFRJ) Cidade Universitária RJ Rio de Janeiro 21941-909 Brazil

Cervical cancer (CC) is a significant cause of morbidity and mortality in women, often preceded by high-grade cervical intraepithelial lesions (HSIL). Although conventional cytology (Pap smear) is widely used for screening, its sensitivity limitations and high false-positive rate reinforce the need for complementary methods. This study investigated the feasibility of low-field ¹H NMR spectroscopy combined with chemometric modeling to differentiate healthy individuals (CON) from patients with HSIL and CC. Principal Component analysis (PCA) was applied to explore metabolic patterns and identify relevant spectral variables in group differentiation. PCA1 highlighted the separation between CC and the other groups, while PCA2 and PCA3 evidenced intermediate metabolic characteristics in HSIL, reinforcing its role as a transition stage. Three classification scenarios were evaluated using Data-Driven Soft Independent Modeling of Class Analogy (DD-SIMCA): (1) CON as target class, HSIL/CC as outclass classes;(2) HSIL as target class, CON as outclass class;and (3) CC as target class, CON as outclass class. Calibration was optimal (100 % SEN, SPE, ACC, MCC), and prediction showed higher efficacy in detecting CC (SPE = 100 %, MCC = 70 %), indicating that the model was more efficient in screening cervical cancer cases. Furthermore, low-field ¹H NMR has demonstrated potential as a metabolomic screening tool. It is a promising alternative due to its greater accessibility, lower operational cost, and non-invasive nature, complementing traditional methods of early detection of tumors and cervical lesions. © 2025

关键词： Cervical cancer Chemometrics DD-SIMCA low-field benchtop NMR Metabolomic

来源：评论

学校读者我要写书评

暂无评论

A New Agile Actuation System of a Cable-Driven Parallel Robot

A New Agile Actuation System of a Cable-Driven Parallel Robo...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian MohammadJavad Shabani SeyedSina Seyedi HasanAbadi Mohammadreza Dahaaghin Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Cable-driven Parallel Robots (CDPRs) offer a wider range of workspace compared to rigid-link parallel robots. These robots are equipped with an actuation system that satisfies some requirements, such as having low inertia and a negligible amount of friction. These two criteria lead to the agility definition of a system. On the other hand, winch-drum actuation systems should be able to wind the cable properly, in a way it does not be wound on itself. In this paper, an innovative winch-drum actuation system with a universal joint module is designed and fabricated for a CDPR. The winch-drum module is equipped with a power screw module which allows the cable to be wound properly around the drum and the universal joint module allows the cable to accordingly orient within the workspace. To validate the proposed designated system, it is experimentally evaluated in two control scenarios; i.e. reaching a set point and path tracking task The results show that the proposed actuation system fulfills the desired criteria and has the potential to be implemented in any other CDPR.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel Bio-Intelligent Real-Time Redundancy Resolution Method for Cable-Driven Parallel Manipulators

A Novel Bio-Intelligent Real-Time Redundancy Resolution Meth...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian SeyedSina Seyedi HasanAbadi Arman Gholibeikian Department of Mechanical Engineering K. N. Toosi University of Technology Advanced Robotic and Automated Systems (ARAS) Center of Excellence in Robotics and Control Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Cable-driven parallel manipulators (CDPMs) are widely used where there is a need for high speeds and high accelerations, thanks to the low inertia and low cost of their links. However, cables can only exert tensional force. Due to this inherent property of the cables, CDPMs are required to be designed with at least one degree of redundancy in their joint space, to be able to generate an acceptable range of wrench within the workspace. Meanwhile, redundancy in joint space leads a problem called redundancy resolution, which is basically a force distribution from workspace to joint space. In this research, inspired by a simple mathematical model of the limbic system of the brain, a novel real-time redundancy resolution method is proposed. The presented method utilizes the kinematic information of the end-effector to find the solution to the redundancy resolution problem. The results show that this Brain Emotional Learning (BEL) method has a better performance in comparison with some common numerical optimization methods solved with a nonlinear programming solver like fmincon function in MATLAB, in terms of computational cost, continuity of the profile of the cables forces, and robustness.

关键词： Power cables Redundancy Force Optimization methods Kinematics Brain modeling Mathematical models Real-time systems Robustness Trajectory

来源：评论

学校读者我要写书评

暂无评论

Intelligent Model-Free control for Tendon-Driven Continuum robotic Arms

Intelligent Model-Free Control for Tendon-Driven Continuum R...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Continuum manipulator modeling is always associated with structured and unstructured uncertainties. Therefore, model-based control system design for this class of robotic systems will be very challenging. On the other hand, the performance quality of model-free controllers is completely dependent on their hyperparameters; they are also very sensitive to the considered trajectory for the system. As a result, using model-free controllers will require setting parameters for different scenarios. In this research, the design of a model-free controller with comparable performance to model-based control strategies is presented. To this end, various parameters are determined online by the gain adjustment system. The research innovation is to use a supervised machine learning method, fuzzy inference system (FIS), to implement the intelligent gain adaptation system to achieve this goal. The Modified Transpose Jacobian (MTJ) performs well in trajectory tracking due to its approximated feedback linearization tool. In addition, the PID controller structure makes it a locally robust control strategy. An adaptive gain adjustment system can greatly increase algorithm potential and establish the capability to follow trajectories in different work points in the system work space. This research aims to improve the performance of the MTJ model-free control strategy in tracking trajectories starting from arbitrary initial conditions in the system work space. This is achieved by the gain adjustment system design using a fuzzy inference system. Both simulation and experimental results reveal the merits of the proposed controller.

关键词：

来源：评论

学校读者我要写书评

暂无评论

analysis of an urban energy metabolic system: Comparison of simple and complex model results

引用

Ecological Modelling 2011年第1期223卷 14-19页

作者： Yan Zhang Shengsheng Li Brian D. Fath Zhifeng Yang Naijin Yang State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Xinjiekouwai Street No. 19 Beijing 100875 China Biology Department Towson University Towson MD 21252 USA Advanced Systems Analysis Program International Institute for Applied Systems Analysis Laxenburg Austria

A fundamental difference between simple and complex systems is how the research objects are subdivided to support different study purposes. Based on a comparison between two urban energy system models – one with 5 and the other with 17 sectors – we concluded that the two models were most similar in terms of their description of the overall system structure and most different in terms of their description of specific intra-system relationships. The smaller number of system components and relationships in the 5-sector model facilitated judgments of the system's overall situation, thereby revealing where the key problems were found. In contrast, the 17-sector model provided enough details about the system to assist in the formulation of concrete operational measures to solve specific problems. Our results indicate that the division of a model into sectors should depend on the explicit problem to be solved and the context for that problem; different goals will require different numbers of system components. The results also demonstrate how simple and complex models can be used in tandem to examine a system from different perspectives.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Machine Learning for Analyzing Concrete Cover Separation in Externally Bonded FRP RC Beams

引用

Procedia Structural Integrity 2024年 64卷 1524-1531页

作者： Manish Prasad Cristina Barris Mehdi Aghabagloo Beatriz López Ricardo Perera Marta Baena Analysis and Advanced Materials for Structural Design AMADE University of Girona Girona 17003 Spain Control Engineering and Intelligent Systems EXIT University of Girona Girona 17003 Spain Department of Mechanical Engineering Technical University of Madrid 28006 Madrid Spain

Strengthening of concrete structures with Externally Bonded (EB) Fiber Reinforced Polymer (FRP) is one the most cost effective, efficient, and sustainable rehabilitation techniques. However, usually the ultimate tensile strength of the FRP cannot be achieved due to the premature debonding of the FRP or delamination of the concrete cover. In this last case, known as concrete cover separation (CCS), high stress concentration at the free end of FRP laminate, in combination with the shear stress at that section, cause the initiation of a shear crack that, if not controlled by the shear reinforcement, propagates in concrete just below internal reinforcement. Various analytical and empirical models have been developed to predict this phenomenon but none of them could give a failure load with reasonable accuracy. On the other hand, Machine Learning (ML) has been proved very effective in predicting behaviors that are difficult to quantify using mechanics. This paper explores ML algorithms to predict the failure load of flexural elements that undergo CCS. To this end, a database has been collected that comprises 140 four-point bending tests on beams reinforced with EB CFRP that failed by CCS. K-nearest neighbor (KNN), support vector machine (SVM), random forest (RF) and extreme gradient boosting (XGBOOST) algorithms have been applied and then ranked based on their R-squared score. R-squared scores obtained from ML are the highest compared to the analytical models described in this paper. Moreover, the mean values and standard deviation of the ratio of experimental failure load and that of calculated by the ML model are the lowest compared to the analytical models. The predictions from the ML models are found more aligned with the experimental results than the analytical models. KNN is chosen as the best ML algorithm for the prediction of failure load with an R-squared score of 0.97.

关键词： Fiber Reinforced Polymer Concrete cover separation Machine Learning

来源：评论

学校读者我要写书评

暂无评论

Upgrading and testing of the UPV/EHU Stellarator 13

Upgrading and testing of the UPV/EHU Stellarator

引用

13th International Conference on Information, Intelligence, systems and Applications, IISA 2022

作者： Garrido, Aitor J. Marco, Aitor De La Sen, Manuel Oleagordia, Inigo Garrido, Izaskun University of the Basque Country - UPV/EHU Automatic Control Group - Acg Institute of Research and Development of Processes - Iidp Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao Po Rafael Moreno 3 Bilbao48013 Spain University of the Basque Country - UPV/EHU. Automatic Control Group - Ac Advanced Design and Analysis Department Idom Zarandoa Etorb. 23 Bilbao48015 Spain University of the Basque Country - UPV/EHU Automatic Control Group - Acg Institute of Research and Development of Processes - Iidp Department of Electricity and Electronics Faculty of Science and Technology B° Sarriena s/n Leioa48080 Spain

ISBN: (数字)9781665463904

ISBN: (纸本)9781665463904

This paper deals with the upgrade and testing of the of the Ultra-Low Iota Super Elongated Stellarator of the University of the Basque Country. The main upgrades affect to the coil system but also to the microwave source and the data acquisition system. Therefore, it is necessary to update its State-Space model. The updated model is validated by means of experimental output data showing an accurate matching with the real system. Then, in order to test the new model, a Model Predictive control-MPC scheme is successfully implemented both in simulation and experimentally using a real-time control platform. © 2022 IEEE.

关键词： Model predictive control

来源：评论

学校读者我要写书评

暂无评论

Synergism analysis of an urban metabolic system: Model development and a case study for Beijing, China

引用

Ecological Modelling 2014年 272卷 188-197页

作者： Yan Zhang Hong Liu Brian D. Fath State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Xinjiekouwai Street No. 19 Beijing 100875 China Biology Department Towson University Towson MD 21252 USA Advanced Systems Analysis Program International Institute for Applied System Analysis Laxenburg Austria

The efficiency of urban metabolic processes depends on the degree of mutualism of these processes throughout the metabolic system and on the value gained by each compartment within the system. This can be assessed by means of ecological network-based synergism analysis. In this paper, we used material-flow accounting methods to account for the exchanges of resources and wastes among the compartments of an urban system. Using a seven-compartment urban metabolic network model of Beijing, China, as a case study, we examined the degree of synergism of the compartments, determined the nature of the resulting ecological relationships, and determined the flow of utility to each compartment within the system. The results revealed which types of ecological relationship contributed most to the system (here, exploitation) and identified the key compartments that decreased the system's degree of synergism. The results provide theoretical and empirical support for the development of policies designed to promote healthy development of Beijing's urban metabolic system.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Two-Stage Representation Refinement Based on Convex Combination for 3-D Human Poses Estimation

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2024年第12期5卷 6500-6508页

作者： Chen, Luefeng Cao, Wei Zheng, Biao Wu, Min Pedrycz, Witold Hirota, Kaoru China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Macau University of Science and Technology Institute of Systems Engineering Taipa999078 China Istinye University Research Center of Performance and Productivity Analysis Istanbul34010 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

In the human pose estimation task, on the one hand, 3-D pose always has difficulty in dividing different 2-D poses if the view is limited;on the other hand, it is hard to reduce the lifting ambiguity because of the lack of depth information, it is an important and challenging problem. Therefore, two-stage representation refinement based on the convex combination for 3-D human pose estimation is proposed, in which the two-stage method includes a dense-spatial-temporal convolutional network and a local-to-refine network. The former is applied to determine the features between each video frame;the latter is used to get the different scales of pose details. It aims to address the difficulty of estimating 3-D human pose from 2-D image sequences. In such a way, it can better use the relations between every frame in the sequence of the pose video to produce more accurate results. Finally, we combine the above network with a block called convex combination to help refine the 3-D pose location. We test the proposed approach on both Human3.6m and MPII datasets. The result confirms that our method can achieve better performance than improved CNN supervision, a simple yet effective baseline, and coarse-to-fine volumetric prediction. Besides, a robustness test experiment is carried out for the proposed method while the input is interrupted. The result verifies that our method shows better robustness. © 2024 IEEE.

关键词： Convolution

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：