检索结果-内蒙古大学图书馆

2024 China Automation Congress, CAC 2024

作者： Jingyu, Zhang Qin, Fang Mingjian, Sun Rong, Xiong Wang, Yue Haojian, Lu School of Information Science and Engineering Harbin Institute of Technology Weihai China Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Control Science and Engineering Harbin Institute of Technology Heilongjiang China

ISBN: (纸本)9798350368604

Due to their inherent flexibility and high human-computer interaction potential, soft continuum robots have been developed and popularized in industrial and medical scenarios. However, when moving in an unstructured environment, the contact with environment will change the configuration parameters of the robot, which brings problems to the control. Aiming at improving the control performance of soft continuum robots in an unstructured environment, a contact-aided model is proposed to estimate the varying configurations of the robot. Besides, a model-based controller is proposed to control the robot in an unstructured environment. To verify the performance of the proposed method, a small-scale soft continuum robot is designed and fabricated. Through the characterization experiment, the robot shows a large workspace by changing the contact position, and the kinematic model is verified. Through the trajectory tracking experiment, the robot showed good accuracy, with an average error of 1.2mm. Through an exploration experiment in the unstructured environment, the robot showed good control effect, with an average error of 1.9mm. This work enhances the application capability of the soft continuum robots in unstructured environments. © 2024 IEEE.

关键词： Microrobots

来源：评论

学校读者我要写书评

暂无评论

Mean policy-based proximal policy optimization for maneuvering decision in multi-UAV air combat

引用

Neural Computing and Applications 2024年第31期36卷 19667-19690页

作者： Zheng, Yifan Xin, Bin He, Bin Ding, Yulong Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai China School of Automation Beijing Institute of Technology Beijing China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Autonomous maneuvering decision-making is a crucial technology for Unmanned Aerial Vehicles (UAVs) to take the air domination in modern unmanned warfare. With the advantage of balancing exploration and exploitation, as well as the immediacy of end-to-end output by combining with deep neural network, multi-agent reinforcement learning (MARL) has made remarkable achievements in multi-UAV autonomous air combat maneuvering decision-making (MUAAMD). However, the implementation of effective cooperative policy learning remains a challenging issue for MARL methods with centralized training decentralized execution (CTDE) paradigm. This paper proposes a MARL-based method to improve the performance of cooperation in MUAAMD. Firstly, considering the constraints of dynamic and limited perception for UAVs in the realistic air combat scenario, the MUAAMD problem is formulated based on partially observable Markov game (POMG) model. Secondly, a novel efficient MARL algorithm named the mean policy-based proximal policy optimization (MP3O) is introduced. Specifically, a joint policy optimization mechanism is constructed by estimating the policies of neighboring agents in group as a mean-field approximation while training, which enables both centralized evaluation and improvement of cooperative policy under the CTDE paradigm. Thirdly, by combining with three improvement techniques, a cooperative decision-making framework for MUAAMD based on MP3O is proposed. Empirically, results of simulations and comparative experiments validate the effectiveness of proposed method in promoting cooperative policy learning in resolving MUAAMD problem. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Decision making

来源：评论

学校读者我要写书评

暂无评论

Electromagnetic design for high power density of fully superconducting synchronous motor with through-shaft type field coil for electric aircraft 36

Electromagnetic design for high power density of fully super...

引用

36th International Symposium on Superconductivity, ISS 2023

作者： Uriu, Kaiji Iwakuma, Masataka Miyazaki, Hiroshi Miura, Shun Sasa, Hiromasa Department of Electrical and Electrical Engineering Graduate School of Systems and Information Science Kyushu University Graduate School 744 Motooka Nishi-ku Fukuoka-shi Fukuoka Japan

The global demand for aircraft is currently increasing, paralleled by a growing emphasis on decarbonization through the replacement of fossil fuel engines with electric propulsion. In response to this trend, we have developed a superconducting motor distinguished by its high efficiency, output, and low weight. Our focus centers on two critical aspects. Firstly, we addressed the issue of the field coil's shape. The widely used REBCO wire in high-temperature superconductivity is tape-shaped, making a racetrack coil the most straightforward method for winding the wire. However, this configuration necessitates dividing the motor shaft as it comes in contact with the field coil, raising concerns about the mechanical durability of motors. To overcome this challenge, we introduce a saddle-type coil and design a coil shape that achieves a single continuous through-axis. Utilizing the Frenet-Serre formula, we created a 3D model of the coil's end without applying load to the wire. This method, previously employed in accelerators, enhances durability, potentially leading to increased output due to higher rotation speeds and reduces weight through part savings. Secondly, introducing a saddle coil presents challenges in forming an ideal magnetic field distribution. In a rotating-field-type motor using an iron core, the winding can be directly wound around it, resulting in multiple coils forming similar magnetic fields that can be superimposed to create one large magnetic pole. However, with a saddle coil, coils are arranged along the circumference, and the magnetic field distribution and an anticipated decrease in output. To address this, we aimed to optimize the magnetic field distribution and increase output through a parameter survey. Specifically, we conducted an analysis under fixed armature conditions (current, number of turns, and shape) in three cases. In Case1, with a fixed total number of turns for the field coil, we compared magnetic field distributions and output by

关键词： Winding

来源：评论

学校读者我要写书评

暂无评论

Estimation of Body Sway Dynamics in a Soft Actuators-based Exercise Game with Squat Motions

Estimation of Body Sway Dynamics in a Soft Actuators-based E...

引用

2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Ramasamy, Priyanka Shimatani, Koji Kurita, Yuichi Hiroshima University Graduate School of Advanced Science and Engineering Hiroshima739-8527 Japan Prefectural University of Hiroshima Department of Physical Therapy Japan

ISBN: (纸本)9798331531614

Postural stability is a significant aspect that needs to be investigated to prevent the risk of injuries and falls in all age groups. Moreover, developing reliable techniques and feedback modalities to enhance the posture control evaluation is crucial. The study investigates the effects of incorporating self-simulated gaming exercises with haptic feedback on posture control in young adults. Participants were randomly assigned to three groups: a control group (n=10) which performed conventional squatting within prescribed time intervals;an intervention group A (n=9), which engaged in virtual reality (VR)-based squatting;and an intervention group B (n=9), which performed squatting in a VR environment while wearing a soft actuator suit. The gaming interface dynamically optimizes the difficulty of squatting based on the user's knee tremor. We evaluated several center of pressure (COP) parameters: displacement, root mean square (RMS), area, median frequency, and mean velocity in the mediolateral (ML) and anterior-posterior (AP) directions. Statistical analysis using ANOVA revealed significant effects in the ML displacement between the control group and intervention group B (p = 0.027), ML RMS between the control group and intervention group A (p = 0.001), and between the control group and intervention group B (p = 0.001). Additionally, significant differences were observed in the circumference area between the control group and intervention group A (p = 0.035) and between the control group and intervention group B (p = 0.001). The findings indicate that the developed prototype, which provides visual and haptic guidance, shows promise as a tool for improving postural control. © 2025 IEEE.

关键词： Feedback

来源：评论

学校读者我要写书评

暂无评论

Effect of Sn addition on electrochemical activity of ribbons of Mg-Al-Ca anode material for rechargeable magnesium batteries fabricated by rapid solidification

引用

Keikinzoku/Journal of Japan Institute of Light Metals 2025年第1期75卷 9-13页

作者： Fukuta, Yoshitaka Kikura, Kensei Tsukeda, Tadayoshi Aida, Tetsuo Tabata, Hironobu Kurihara, Hideki Suzuki, Mayumi Program of Materials Science and Engineering Studies in Science and Engineering Graduate School of Science and Engineering University of Toyama 3190 Gofuku Toyama-shi Toyama930-8555 Japan Graduate School of Science and Engineering University of Toyama Toyama-shi Toyama Japan Faculty of Sustainable Design Academic Assembly University of Toyama Toyama-shi Toyama Japan CHUETSU METAL WORKS CO. LTD. Nakaniikawagun Toyama Japan Saitama Industrial technology Center Kawaguchi-shi Saitama Japan Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University Imizu-shi Toyama Japan

Magnesium-based batteries are potential candidates for next-generation rechargeable batteries due to the divalent nature of magnesium cations and the natural abundance of magnesium resources. In this study, the electrochemical activity of Mg-6mass%Al-3mass%Ca anodes combined with Sn was investigated. Thin ribbons of the anode specimens were prepared by a single-roll rapid solidification method. The results showed that the electrochemical activity increased upon adding 1 mass% Sn, while it decreased for 3 mass% Sn. Based on the results of an X-ray diffraction analysis, the addition of Sn led to the formation of Mg2Sn and Ca2Sn phases, which increased the lattice distortion. Scanning electron microscopy observations indicated that these secondary phases were homogeneously distributed for 1 mass% Sn addition, while they were coarsely distributed for 3 mass% Sn. © 2025 The Japan Institute of Light Metals.

关键词： X ray diffraction analysis

来源：评论

学校读者我要写书评

暂无评论

Benchmarking Semantic Communications for Image Transmission Over MIMO Interference Channels 16

Benchmarking Semantic Communications for Image Transmission ...

引用

16th International Conference on Wireless Communications and Signal Processing, WCSP 2024

作者： Wang, Yanhu Guo, Shuaishuai Dong, Anming Zhao, Hui School of Control Science and Engineering Shandong University China School of Computer Science and Technology Qilu University of Technology China Eurecom Communication Systems Department France

ISBN: (纸本)9798350390643

Semantic communications offer promising prospects for enhancing data transmission efficiency. However, existing schemes have predominantly concentrated on point-to-point transmissions. In this paper, we aim to investigate the validity of this claim in interference scenarios compared to baseline approaches. Specifically, our focus is on general multiple-input multiple-output (MIMO) interference channels, where we propose an interference-robust semantic communication (IRSC) scheme. This scheme involves the development of transceivers based on neural networks (NNs), which integrate channel state information (CSI) either solely at the receiver or at both transmitter and receiver ends. Moreover, we establish a composite loss function for training IRSC transceivers, along with a dynamic mechanism for updating the weights of various components in the loss function to enhance system fairness among users. Experimental results demonstrate that the proposed IRSC scheme effectively learns to mitigate interference and outperforms baseline approaches, particularly in low signal-tonoise (SNR) regimes. © 2024 IEEE.

关键词： Radio transceivers

来源：评论

学校读者我要写书评

暂无评论

A Multi-Agent Framework for Voltage control in Distribution systems with High Penetration of Inverter-Based Resources 25

A Multi-Agent Framework for Voltage Control in Distribution ...

引用

25th International Middle East Power System Conference, MEPCON 2024

作者： Bedawy, Ahmed Sasaki, Yutaka Zoka, Yoshifumi Yorino, Naoto Hiroshima University Graduate School of Advanced Science and Engineering Higashi-Hiroshima Japan South Valley University Department of Electrical Engineering Faculty of Engineering Qena Egypt Kure College Kure Japan

ISBN: (纸本)9798350379648

The increasing penetration of inverter-based resources (IBRs) such as photovoltaic (PV) systems, electric vehicles (EVs), and battery energy storage systems (BESSs) in distribution networks presents new challenges for maintaining voltage within the standard limits. Traditional voltage control methods are often insufficient to manage the complex dynamics introduced by decentralized and variable power sources. This paper proposes a multi-agent framework for voltage control in distribution systems with a high penetration of IBRs. The framework leverages decentralized agents coordinating with a voltage regulator agent, including PV, EV, and fuel cell agents. Each agent monitors and controls its local voltage and power generation or consumption while communicating with the voltage regulator to ensure system-wide voltage control. The novelty lies in the proposed framework's flexibility, scalability, and adaptability to varying network conditions, particularly under high renewable energy penetration. Simulation results demonstrate that the proposed framework effectively mitigates voltage deviations, decreases the control operation of the voltage regulator, and supports the seamless integration of IBRs into the distribution network. This approach shows promise for enhancing the resilience and efficiency of future power systems with high shares of renewable energy. © 2024 IEEE.

关键词： DC distribution systems

来源：评论

学校读者我要写书评

暂无评论

LATTICE BOLTZMANN SIMULATION OF BEHAVIORS OF BINARY CLOUD DROPLETS APPROACHING EACH OTHER

引用

Multiphase science and Technology 2022年第3期34卷 1-15页

作者： Yoshino, Masato Sasaki, Kohei Saito, Satoshi Suzuki, Kosuke Institute of Engineering Academic Assembly Shinshu University Japan Mechanical Systems Engineering Division Department of Engineering Graduate School of Science and Technology Shinshu University Japan

Behaviors of binary water droplets approaching each other in the cloud are simulated by the improved two-phase lattice Boltzmann method (LBM) for high density ratios, proposed by Inamuro et al. (2016, 2018). In this method, the lattice kinetic scheme (an extended scheme of the LBM) is used, and the flow velocity and pressure are computed by using a single equilibrium distribution function and by adjusting the speed of sound to satisfy the incompressible continuity equation for high density ratios. Using this method, we investigate the behaviors of liquid droplets approaching each other in a gas at low Weber numbers (We) and low Reynolds numbers (Re), namely We = O(10 2) O(1) and Re = O(1). When the binary cloud droplets are approaching each other in these ranges of We and Re, they can deviate and the collision does not necessarily occur, even though we set the conditions under which spherical rigid particles would collide. In addition, the unequal-size droplets approaching each other are most likely to coalesce around Δ = 0:85, where Δ is the radius ratio of the smaller to the larger droplets. Finally, the characteristics around the critical boundary between the coalescence and deviation are discussed in terms of the kinetic energy of the droplets when they are approaching each other. © 2022 by Begell House, Inc.

关键词： Two phase flow

来源：评论

学校读者我要写书评

暂无评论

Exploring Deep Learning Methods for Computer Vision Applications across Multiple Sectors:Challenges and Future Trends

引用

Computer Modeling in engineering & sciences 2024年第4期139卷 103-141页

作者： Narayanan Ganesh Rajendran Shankar Miroslav Mahdal Janakiraman SenthilMurugan Jasgurpreet Singh Chohan Kanak Kalita School of Computer Science and Engineering Vellore Institute of TechnologyChennai600127India Department of Computer Science and Engineering Koneru Lakshmaiah Education FoundationVaddeswaram522502India Department of Control Systems and Instrumentation Faculty of Mechanical EngineeringVSB-Technical University of OstravaOstrava70800Czech Republic Department of Computer Science and Engineering Vel Tech High Tech Dr.Rangarajan Dr.Sakunthala Engineering CollegeChennai600062India Department of Mechanical Engineering and University Centre for Research&Development Chandigarh UniversityMohali140413India Department of Mechanical Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and TechnologyAvadi600062India

Computer vision(CV)was developed for computers and other systems to act or make recommendations based on visual inputs,such as digital photos,movies,and other *** learning(DL)methods are more successful than other traditional machine learning(ML)methods *** techniques can produce state-of-the-art results for difficult CV problems like picture categorization,object detection,and face *** this review,a structured discussion on the history,methods,and applications of DL methods to CV problems is *** sector-wise presentation of applications in this papermay be particularly useful for researchers in niche fields who have limited or introductory knowledge of DL methods and *** review will provide readers with context and examples of how these techniques can be applied to specific areas.A curated list of popular datasets and a brief description of them are also included for the benefit of readers.

关键词： Neural network machine vision classification object detection deep learning

来源：评论

学校读者我要写书评

暂无评论

Performance Analysis and Flexible control of a Novel Ball Double-screw Hydraulic Robot Knee Joint

引用

Journal of Bionic engineering 2023年第5期20卷 2147-2163页

作者： Jie Shao Yongming Bian Meng Yang Guangjun Liu School of Mechanical Engineering Tongji UniversityShanghai201804China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China Department of Control Science and Engineering Tongji UniversityShanghai201804China National Engineering Technology Research Center for Prefabrication Construction in Civil Engineering Tongji UniversityShanghai200092China

Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee *** the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are *** simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is *** method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in *** simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee *** simulation results show that the foot impact force of the experimental model decreases gradually through ***,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.

关键词： Bionic robot Ball double-screw hydraulic joint Robot knee joint Performance analysis Humanoid motion control Flexible control

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：