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作者： Zeng, Junhai Xie, Wei Pan, Mi School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangdong Guangzhou510641 China Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing South China University of Technology Guangdong Guangzhou510641 China Department of Civil and Environmental Engineering University of Macau 999078 China

The growing need for customized and varied production has highlighted the significance of smart and automated factories in the manufacturing sector. In this particular context, the scheduling of multiple Automated Guided Vehicles (AGVs) plays a pivotal role in enhancing the efficiency of operations within an intelligent manufacturing shop. This study centers on the material handling process within a matrix manufacturing shop with the objective of identifying the most cost-effective transportation routes for materials. To accomplish the specified objective, this research aims to identify an optimal solution for reducing transportation costs. In particular, this study formulates a mixed-integer linear programming model and introduces a novel discrete variant of the moth-flame optimization (MFO) algorithm, named DMFO, to address the scheduling problem. The DMFO algorithm incorporates several significant enhancements. Firstly, a population initialization method is proposed, which combines a nearest-neighbor-based adaptive heuristic and a random sorting technique to ensure the formation of a well-structured population. Secondly, the flame generation mechanism and spiral flight search processes within the MFO have been redefined to achieve a more optimal balance between exploration and exploitation. A neighborhood search mechanism is subsequently devised, employing the concept of neighborhood relevance to accelerate the convergence process. Additionally, a heuristic approach is introduced to reduce the computational cost. Moreover, a population regeneration mechanism is proposed to avoid the algorithm falling into a local optimum. To validate the effectiveness of the DMFO, a comparative analysis is conducted using a dataset of 110 real-world factory instances. In this analysis, eight well-established optimization algorithms are employed. The simulation results consistently demonstrate that the relative percentage deviation (RPD) value of the DMFO tends to approach 0% more

关键词： Materials handling

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Understanding How a 3-dimensional ZMP Exactly Decouples the Horizontal and Vertical Dynamics of the CoM-ZMP Model

Understanding How a 3-dimensional ZMP Exactly Decouples the ...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yuki Onishi Shuuji Kajita Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Japan Society for the Promotion of Science Japan Department of Artificial Intelligence and Robotics College of Science and Engineering Chubu University Kasugai Japan

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The CoM-ZMP model represents the dominant behaviour of bipedal locomotion with surface contact. However, once the centre of mass (CoM) position goes out of a predefined spatial plane, the horizontal dynamics of the model can couple with its vertical dynamics to be nonlinear. This study theoretically investigates the properties of the 3-dimensional zero moment point (ZMP), lying apart from the actual ground to resolve the coupling. The presented discussion includes the compatibility of the 3D ZMP with ZMPs used in preceding research, such as the linear inverted pendulum mode, the existence of a virtual repellent point considering the arbitrary vertical CoM motion, the parameter invariance of the CoM-ZMP model, and feasible regions of the ZMP.

关键词： Couplings Solid modeling Three-dimensional displays Dynamics Spatial resolution Intelligent robots

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Optimal Maintenance Policies of Wave-Dissipating Blocks using Cumulative Damage Model 28

Optimal Maintenance Policies of Wave-Dissipating Blocks usin...

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28th ISSAT International Conference on Reliability and Quality in Design, RQD 2023

作者： Dong, Yunlong Nakamura, Takahiro Ito, Kodo Higuchi, Yoshiyuki Department of Social Management Engineering Graduate School of Engineering Tottori University Minami 4-101KoyamaTottori-shi Tottori680–8552 Japan Faculty of Symbiotic Systems Science Fukushima University Kanayagawa 1-ban Fukushima-shi Fukushima960–1296 Japan

ISBN: (纸本)9798986576121

Because the scale is massive, local government maintenance budgets are tight, and the number of skilled maintenance employees is declining, the social infrastructure must be maintained economically and efficiently. For inexpensive and efficient maintenance, optimal policies that take into account the characteristics of social infrastructure maintenance are required. We developed such optimal maintenance strategies using the cumulative damage model and applied them to the solution of a real-world breakwater problem in a port on the Sea of Japan. Although it is well known that the deterioration of breakwaters follows the Weibull distribution, calculating optimal maintenance policies is difficult because maintenance models contain Stieltjes convolutions of functions. The approximation formula of convolution of the Weibull distribution is used to solve this problem, and the optimum policies are achieved. We can prove that the actual policies which are implemented by local governments are reasonable by comparing them with mathematical calculated results. © RQD 2023. All rights *** right reserved.

关键词： Convolution

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Miniaturized multicolor fluorescence imaging system integrated with a PDMS light-guide plate for biomedical investigation

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npj Flexible Electronics 2023年第1期7卷 494-503页

作者： Hyogeun Shin Gun-Wook Yoon Woongsun Choi Donghwan Lee Hoyun Choi Deok Su Jo Nakwon Choi Jun-Bo Yoon Il-Joo Cho Department of Biomedical Sciences College of MedicineKorea UniversitySeoulRepublic of Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology(KAIST)DeajeonRepublic of Korea Center for Brain Technology Brain Science InstituteKorea Institute of Science and Technology(KIST)SeoulRepublic of Korea Biotechnology Research Institute of CHROMACH Co. LtdSuwonRepublic of Korea School of Chemical Engineering Sungkyunkwan University(SKKU)SuwonRepublic of Korea KU-KIST Graduate School of Converging Science and Technology Korea UniversitySeoulRepublic of Korea Department of Anatomy College of MedicineKorea UniversitySeoulRepublic of Korea Noul Co. LtdYonginRepublic of Korea

Miniaturized fluorescence imaging systems are promising platforms that overcome the limited use of conventional microscopes in the biomedical ***,there are physical limitations for multicolor fluorescence imaging in existing miniaturized imaging systems because multiple filters have to be integrated into a small ***,we present a miniaturized multicolor fluorescence imaging system integrated with single polydimethylsiloxane(PDMS)light-guide plate(LGP)for multicolor fluorescence *** PDMS LGP allows guiding the transmitted light from the light source only to the fluorescent samples regardless of the wavelength of the light ***,our system is capable of multicolor fluorescence imaging without multiple filters that block the excitation *** demonstrated the usability of our system in the biomedical field by observing green-and red-labeled cells in the *** proposed system can be used in a wide range of applications for studies that require multicolor fluorescence imaging in the biomedical field.

关键词： structure field system

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Development of transcranial magnetic stimulation coil with the deepest electric field into the brain and its verification through magnetic field measurement

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Brain Stimulation 2025年第1期18卷 364-365页

作者： Iino, Anna Fushimi, Motofumi Ilkka, Rissanen Tabata, Junichi Kim, Hye Min Chikaki, Shinich Souza, Victor Noda, Yoshihiro Sekino, Masaki The University of Tokyo and Department of Bioengineering Japan Aalto University School of Science Finland The University of Tokyo and Department of Electrical Engineering and Information Systems Japan Keio University School of Medicine Graduate School of Medicine Department of Neuropsychiatry Japan

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A Contact-Aided Model for Soft Continuum Robots Moving in Unstructured Environment

A Contact-Aided Model for Soft Continuum Robots Moving in Un...

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Chinese Automation Congress (CAC)

作者： Zhang Jingyu Fang Qin Sun Mingjian Xiong Rong Yue Wang Lu Haojian 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: (数字)9798350368604

ISBN: (纸本)9798350368611

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.

关键词： Human computer interaction Automation Accuracy Trajectory tracking Service robots Kinematics Continuum robots Robots

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Phosphate environment and phosphate uptake studies: past and future

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Journal of Plant Research 2024年第3期137卷 307-314页

作者： Mimura, Tetsuro Reid, Robert Department of Biosciences Faculty of Bioenvironmental Sciences Kyoto University of Advanced Science Kameoka Kyoto 621-8555 Japan College of Bioscience and Biotechnology National Cheng Kung University Tainan 70101 Taiwan Department of Biology Graduate School of Science Kobe University Hyogo 657-8501 Japan The Institute for Sustainable Agro-ecosystem Services Graduate School of Agricultural and Life Sciences The University of Tokyo Nishi-Tokyo Tokyo 188-0002 Japan School of Biological Sciences Faculty of Sciences Engineering and Technology The University of Adelaide Adelaide 5005 SA Australia

The present review explains briefly the importance of phosphorus in the biological activities and states that the most phosphorus of living organisms is absorbed by plants from the soil. Next, previous studies on the mechanisms of phosphate uptake by plants are reviewed as H⁺-dependent or Na⁺-dependent co-transport systems and the phosphate environment in which plants grow is discussed. The evolution of transporter genes and their regulation mechanisms of expression is discussed in relation to the phosphorus environment. © The Author(s) 2024.

关键词： Phosphate Phosphorus Plant Plasma membrane Transport Vacuole

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Application of Graph Attention Network for Breast Cancer Data and Explanation of Prediction Basis

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IEEE Access 2025年 13卷 99183-99191页

作者： Zeng, Qingyu Tamori, Shoma Harada, Taku Tokyo University of Science Graduate School of Science and Technology Department of Industrial and Systems Engineering Noda-shi 278-8510 Japan Tokyo University of Science Department of Medicinal and Life Sciences Faculty of Pharmaceutical Sciences 278-8510 Katsushika-ku Tokyo 125-8585 Japan Tokyo University of Science Faculty of Science and Technology Department of Industrial and Systems Engineering Noda 278-8510 Japan

Breast cancer is one of the most prevalent cancers globally. Applying machine learning meth-ods to predict breast cancer prognosis is essential for developing effective clinical treatment plans. However, predicting models alone does not ensure the reliability of prognostic outcomes. Therefore, reliable predictions require clear explanations of the underlying basis for its predicted results. This study proposes a method employing a machine learning model for predicting cancer prognosis and a method for explaining the basis for the predicted results. In this study, a machine learning method was introduced to predict the prognosis of breast cancer patients using a graph attention network. We used GNNExplainer to obtain a graph containing important genes and their interrelationships as the basis for the prediction. This method enables the visuali-zation and explanation of the rationale behind the predictive outcomes. This study identified 55 genes critical to predicting survival status within a 10-year timeframe. This study proposed a method employing a graph attention network to breast cancer data, and to explain the prediction basis. The experimental results allowed to identify the genes that play a key role in prognosis prediction, demonstrating the effectiveness of this method in interpreting predicted results. This study has shown subgraphs visually and improved the reliability of prognostic predictions by clearly revealing the factors that affect patient prognosis, which helps to develop more effective clinical treatment plans and decision-making. © 2013 IEEE.

关键词： Breast cancer Explanation Gene expression Graph attention network Machine learning Prediction basis Prognosis prediction

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Effect of Particle Size Distribution on the Transmission Efficiency of Atomized Water to the Tracheal Tube

SSRN

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SSRN 2023年

作者： Asakura, Takumi Yoshioka, Keisuke Ogawa, Ami Kurashina, Yuta School of Mechanical Engineering Graduate School of Science and Technology Tokyo University of Science Japan Department of System Design Engineering Faculty of Science and Technology Keio University Yokohama Japan Division of Advanced Mechanical Systems Engineering Institute of Engineering Tokyo University of Agriculture and Technology Japan

Ultrasonic atomization is a widely used technology. As the atomization device, lead zirconate titanate (PZT) and lithium niobate (LN) are comparatively investigated through experimental and numerical schemes. However, knowledge on a profitable scheme by which to efficiently deliver the atomized particles into the tracheal tube remains unclear. In this study, the physical difference of the transmission efficiency of water particles atomized by PZT and LN devices was measured. The water particles atomized by PZT and LN were injected into a human airway model including a nasal cavity and bronchial tube. The distribution of the amount of transmitted particles deposited at each of the monitoring positions was then estimated using the results of image analysis of color intensity. As a result, the atomized particles of the PZT device, which produced larger particles than the LN device, were more strongly affected by inertia and tended to be deposited at the area closer to the entrance of the nasal cavity. In contrast, the particles produced by the LN device tended to be transmitted deeper into the trachea. The experimental results indicated that the particle size distribution of PZT and LN, which have quite different maximum sizes of particles, largely influences the spatial distribution characteristics of particle deposition along the airway from the nasal cavity to the trachea. © 2023, The Authors. All rights reserved.

关键词： Particle size analysis

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Continuous-Time Damping-Based Mirror Descent for a Class of Non-Convex Multi-Player Games with Coupling Constraints

Continuous-Time Damping-Based Mirror Descent for a Class of ...

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International Conference on control and Automation (ICCA)

作者： Guanpu Chen Kun Cao Karl Henrik Johansson Yiguang Hong Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Digital Futures Stockholm Sweden Department of Control Science and Engineering Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

We study the computation of the global generalized Nash equilibrium (GNE) for a class of non-convex multi-player games, where players' actions are subject to both local and coupling constraints. Due to the non-convex payoff functions, we employ canonical duality to reformulate the setting as a complementary problem. Under given conditions, we reveal the relation between the stationary point and the global GNE. According to the convex-concave properties within the complementary function, we propose a continuous-time mirror descent to compute GNE by generating functions in the Bregman divergence and the damping-based design. Then, we devise several Lyapunov functions to prove that the trajectory along the dynamics is bounded and convergent.

关键词： Couplings Damping Automation Games Nash equilibrium Trajectory Mirrors

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