检索结果-内蒙古大学图书馆

Asian control Conference

作者： Zhenyu Yao Han Shen Yan Xu Yu Chen Jing Nie School of Cyber Science and Engineering Southeast University Nanjing China Department of Systems Science School of Mathematics Southeast University Nanjing China College of Software Engineering Southeast University Nanjing China Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Beijing China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Conflict-based search (CBS) is one of the widely used algorithms to solve multi-agent path finding (MAPF) problems. Though it combines optimality and completeness as a search algorithm, the time it takes to search for a solution grows exponentially as the number of agents gradually increases, and thus does not scale well. In this paper, a learning-based graph transformer is utilized as the heuristic function to accelerate planning in non-gird environment with roadmap generation. To solve unconnected graph problems when performing low-level path planning search in the CBS framework, triangulation method is introduced to obtain an optimized path with less nodes and edges. Simulation shows that the learning-based search method trained on roadmaps generated by constrained delaunay triangulation (CDT) leads to better solutions and a much greater success rate.

关键词： Search problems Transformers Real-time systems Path planning Planning Optimization

来源：评论

学校读者我要写书评

暂无评论

Self-Supervised Learning of Grasping Arbitrary Objects On-the-Move

Self-Supervised Learning of Grasping Arbitrary Objects On-th...

引用

IEEE/SICE International Symposium on System Integration

作者： Takuya Kiyokawa Eiki Nagata Yoshihisa Tsurumine Yuhwan Kwon Takamitsu Matsubara Division of Information Science Robot Learning Laboratory Nara Institute of Science and Technology (NAIST) Ikoma Nara Japan Department of Systems Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Mobile grasping enhances manipulation efficiency by utilizing robots’ mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can develop a generalizable policy to adjust the robot’s velocity and determine grasp position and orientation based on the target object’s shape and pose. Due to mobile grasping’s complexity, action primitivization and step-by-step learning are crucial to avoid data sparsity in learning from trial and error. This study simplifies mobile grasping into two grasp action primitives and a moving action primitive, which can be operated with limited degrees of freedom for the manipulator. This study introduces three fully convolutional neural network (FCN) models to predict static grasp primitive, dynamic grasp primitive, and residual moving velocity error from visual inputs. A two-stage grasp learning approach facilitates seamless FCN model learning. The ablation study demonstrated that the proposed method achieved the highest grasping accuracy and pick-and-place efficiency. Furthermore, randomizing object shapes and environments in the simulation effectively achieved generalizable mobile grasping.

关键词： Visualization Accuracy Shape Grasping Self-supervised learning Timing Complexity theory Trajectory Convolutional neural networks Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Cross-species binding spectrum of ACE2 to SARS-CoV-2 RBD

引用

science China(Life sciences) 2023年第3期66卷 639-642页

作者： Xihao Liao Changge Guan Chenghua Wang Xinjie Chen Xiaomei Lin Lianghua Lu Lu Li Ting Wang Nan Su Bian Wu Xinquan Wang Chong Zhang Yi Wang Yuan Lu Xin-Hui Xing Key Laboratory for Industrial Biocatalysis Ministry of Education of ChinaDepartment of Chemical EngineeringTsinghua UniversityBeijing 100084China College of Light Industry and Food Engineering Guangxi UniversityNanning 530004China CAS Key Laboratory of Microbial Physiological and Metabolic Engineering State Key Laboratory of Microbial ResourcesInstitute of MicrobiologyChinese Academy of SciencesBeijing 100101China The Ministry of Education Key Laboratory of Protein Science Beijing Advanced Innovation Center for Structural BiologyBeijing Frontier Research Center for Biological StructureCollaborative Innovation Center for BiotherapySchool of Life SciencesTsinghua UniversityBeijing 100084China Center for Synthetic and Systems Biology Tsinghua UniversityBeijing 100084China Institute of Biopharmaceutical and Health Engineering Tsinghua Shenzhen International Graduate SchoolShenzhen 518055China Institute of Biomedical Health Technology and Engineering Shenzhen Bay LaboratoryShenzhen 440300China

Dear Editor,Severe acute respiratory syndrome coronavirus 2(SARSCo V-2)is the cause of COVID-19,which has posed a massive threat to human health,economy,and security worldwide(Bai et al.,2022).Genomic analysis of SARS-Co V-2 and related coronaviruses revealed that SARS-Co V and SARS-Co V-2likely had ancestors(Xu et al.,2020),which might originate in bats,followed by subsequent spread within intermediate hosts(spillover hosts)and then transmission to humans(Wang et al.,2021).

关键词： ACE2 acute

来源：评论

学校读者我要写书评

暂无评论

Weak well-posedness of stochastic Volterra equations with completely monotone kernels and non-degenerate noise

arXiv

引用

arXiv 2023年

作者： Hamaguchi, Yushi Graduate School of Engineering Science Department of Systems Innovation Osaka University 1-3 Machikaneyama Toy-onaka Osaka Japan

We establish weak existence and uniqueness in law for stochastic Volterra equations (SVEs for short) with completely monotone kernels and non-degenerate noise under mild regularity assumptions. In particular, our results reveal the regularization-by-noise effect for SVEs with singular kernels, allowing for multiplicative noise with Hölder diffusion coefficients. In order to prove our results, we reformulate the SVE into an equivalent stochastic evolution equation (SEE for short) defined on a Gelfand triplet of Hilbert spaces. We prove weak well-posedness of the SEE using stochastic control arguments, and then translate it into the original *** Codes 60H20, 60H15, 60G22, 60H50 © 2023, CC BY.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Position sensing for surgical robots using time of flight sensor 21

Position sensing for surgical robots using time of flight se...

引用

21st International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2021

作者： Sasaki, Tohru Tachikawa, Kaoru Murakami, Atsushi Muranaka, Akane Mir, Bilal Ahmed Terabayashi, Kenji Dohda, Kuniaki Department of Mechanical and Intellectual Systems Engineering University of Toyama Japan Graduate School of Science and Engineering for Education University of Toyama Japan Department of Mechanical Engineering Northwestern University United States

ISBN: (纸本)9780995775190

Since the spread of COVID 19 worldwide, information and communication technology has been accelerating in the medical field. It is easy to switch to online medical interviews, but it is difficult to go online for biological examinations and surgical procedures. Therefore, there is an increasing demand for automatic handling of living organisms in the medical and bioengineering fields. Although surgical robots, such as the da Vinci, reduces labor, it is necessary to accurately measure the position and posture of organs and blood vessels for complete automation, and such technology has not been applied to surgical robots. There are methods for creating a three dimensional model of an organ by measuring it beforehand using magnetic resonance imaging or computed tomography, and to reflect the information during surgery by using augmented reality and other methods. However, there is currently no technology for automatically determining the position of organs and blood vessels in real time during surgery. To automate the grasping motion of a forceps type manipulator used with surgical robots, we applied a time of flight, ToF, sensor to obtain the position and orientation of a blood vessel. We developed a method for detecting blood vessels from the points measured using a ToF sensor and estimating their thicknesses and directions. We evaluated the effectiveness of our method in an experiment involving a simulated blood vessel. © 2021 Proceedings of the 21st International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2021. All rights reserved.

关键词： Blood vessels

来源：评论

学校读者我要写书评

暂无评论

A Novel Transformerless Single-Phase Three-Level Buck-Boost Inverter

A Novel Transformerless Single-Phase Three-Level Buck-Boost ...

引用

Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Eyyup Demirkutlu Ires Iskender Graduate School of Natural and Applied Science Gazi University Ankara Turkey Department of Power and Control Systems Design Engineering Aselsan Inc. Ankara Turkey Department of Electrical Electronics Engineering Engineering Faculty Gazi University Ankara Turkey Department of Electrical Electronics Engineering Engineering Faculty Cankaya University Ankara Turkey

This paper proposes a novel transformerless, single-phase, three-level, buck-boost inverter. The proposed inverter can suppress the leakage current drawn from the input power source and provide a long-lasting solution for applications with a wide range and unregulated input voltage. Unlike similar topologies, in the proposed inverter there is no need to have a mid-point of DC sources or DC bus capacitors at the input side of the inverter. A single-phase, three-level, buck-boost inverter for realizing the power stage with 110-Vrms output AC voltage and a range of 100V-200V input DC voltage is investigated in this study. The proposed topology has been proven through theory, computer simulations, and experimental studies with SiC MOSFETs-based prototype of a 300-VA power supply. Theory, computer simulation, and experimental results are all correlated.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Location Functions for Self-stabilizing Byzantine Tolerant Swarms 1

引用

23rd International Symposium on Stabilization, Safety, and Security of Distributed systems, SSS 2021

作者： Ashkenazi, Yotam Dolev, Shlomi Kamei, Sayaka Katayama, Yoshiaki Ooshita, Fukuhito Wada, Koichi Department of Computer Science Ben-Gurion University of the Negev Beersheba Israel Graduate School of Advanced Science and Engineering Hiroshima University Higashihiroshima Japan Graduate School of Engineering Nagoya Institute of Technology Nagoya Japan Graduate School of Science and Technology Nara Institute of Science and Technology Ikoma Japan Department of Applied Informatics Faculty of Science and Engineering Hosei University Koganei Japan

ISBN: (数字)9783030910815

ISBN: (纸本)9783030910808

This paper proposes a novel framework to realize self-stabilizing Byzantine tolerant swarms. In this framework, non-Byzantine robots execute tasks while satisfying location functions, that is, the robots use a policy for their location choice, which restricts their location to satisfy the functions. We give a general Byzantine-resilient self-stabilizing algorithm based on the location function, and then provide an efficient implementation of the self-stabilizing algorithms for special classes of tasks, called polynomial-based tasks and shape-based tasks. We also demonstrate the usefulness of the proposed framework by implementing typical tasks of robots. © 2021, Springer Nature Switzerland AG.

关键词： Location

来源：评论

学校读者我要写书评

暂无评论

Payoff control in Repeated Games 33

Payoff Control in Repeated Games

引用

第33届中国控制与决策会议

作者： Renfei Tan Qi Su Bin Wu Long Wang Center for Systems and Control College of EngineeringPeking University Department of Mathematics and Department of Biology University of Pennsylvania School of Science Beijing University of Posts and Telecommunications

ISBN: (纸本)9781665431293

Evolutionary game theory is a powerful mathematical framework to study how intelligent individuals adjust their strategies in collective *** has been widely believed that it is impossible to unilaterally control players' payoffs in games,since payoffs are jointly determined by all *** recently,a class of so-called zero-determinant strategies are revealed,which enables a player to make a unilateral payoff control over her partners in two-action repeated games with a constant continuation *** existing methods,however,lead to the curse of dimensionality when the complexity of games *** this paper,we propose a new mathematical framework to study ruling strategies(with which a player unilaterally makes a linear relation rule on players' payoffs) in repeated games with an arbitrary number of actions or players,and arbitrary continuation *** establish an existence theorem of ruling strategies and develop an algorithm to find *** particular,we prove that strict Markov ruling strategy exists only if either the repeated game proceeds for an infinite number of rounds,or every round is repeated with the same *** proposed mathematical framework also enables the search of collaborative ruling strategies for an alliance to control *** method provides novel theoretical insights into payoff control in complex repeated games,which overcomes the curse of dimensionality.

关键词： Game Theory Repeated Games Payoff control Dynamical systems Ruling Strategy

来源：评论

学校读者我要写书评

暂无评论

Janus MoSSe Nanotubes on 1D SWCNT-BNNT van der Waals Heterostructure

引用

Small 2025年 e2412454页

作者： Yang, Chunxia Lin, Qingyun Sato, Yuta Gao, Yanlin Zheng, Yongjia Wang, Tianyu Ma, Yicheng Dai, Wanyu Li, Wenbin Maruyama, Mina Okada, Susumu Suenaga, Kazu Maruyama, Shigeo Xiang, Rong Department of Mechanical Engineering The University of Tokyo Tokyo113-8656 Japan Center of Electron Microscopy State Key Laboratory of Silicon and Advanced Semiconductor Materials School of Material Science and Engineering Zhejiang University Hangzhou310027 China Tsukuba305-8565 Japan Department of Physics Graduate School of Science and Technology University of Tsukuba Tsukuba305-8571 Japan State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China School of Engineering Westlake University Hangzhou310030 China The University of Osaka Osaka567-0047 Japan

Two-dimensional (2D) Janus transition metal dichalcogenide (TMDC) layers with broken mirror symmetry exhibit giant Rashba splitting and unique excitonic behavior. For their one-dimensional (1D) counterparts, the Janus nanotubes possess curvature, which introduces an additional degree of freedom to break the structural symmetry. This can potentially enhance these effects or even give rise to novel properties. Moreover, Janus MSSe nanotubes (M = W, Mo), with diameters surpassing 40 Å and Se positioned externally consistently demonstrate lower energy states compared to their Janus monolayer counterparts. However, there are limited studies on the preparation of Janus nanotubes, due to the synthesis challenge and limited sample quality. In this study, we first synthesized MoS2 nanotubes on single-walled carbon nanotube (SWCNT) and boron nitride nanotube (BNNT) heterostructures and then explored the growth of Janus MoSSe nanotubes from MoS2 nanotubes at room temperature with the assistance of H2 plasma. The successful formation of the Janus structure is confirmed by Raman spectroscopy, and atomic structure and elemental distribution of the grown samples are further characterized by advanced electronic microscopy. The synthesis of Janus MoSSe nanotubes based on SWCNT-BNNT heterostructures paves the way for further exploration of novel properties in Janus TMDC nanotubes. © 2025 The Author(s). Small published by Wiley-VCH GmbH.

关键词： Van der Waals forces

来源：评论

学校读者我要写书评

暂无评论

Generalization of generative model for neuronal ensemble inference method

arXiv

引用

arXiv 2022年

作者： Kimura, Shun Takeda, Koujin Department of Mechanics Systems Engineering Graduate School of Science and Engineering Ibaraki University Ibaraki Hitachi Japan

Various brain functions that are necessary to maintain life activities materialize through the interaction of countless neurons. Therefore, it is important to analyze functional neuronal network. To elucidate the mechanism of brain function, many studies are being actively conducted on functional neuronal ensemble and hub, including all areas of neuroscience. In addition, recent study suggests that the existence of functional neuronal ensembles and hubs contributes to the efficiency of information processing. For these reasons, there is a demand for methods to infer functional neuronal ensembles from neuronal activity data, and methods based on Bayesian inference have been proposed. However, there is a problem in modeling the activity in Bayesian inference. The features of each neuron's activity have non-stationarity depending on physiological experimental conditions. As a result, the assumption of stationarity in Bayesian inference model impedes inference, which leads to destabilization of inference results and degradation of inference accuracy. In this study, we extend the range of the variable for expressing the neuronal state, and generalize the likelihood of the model for extended variables. By comparing with the previous study, our model can express the neuronal state in larger space. This generalization without restriction of the binary input enables us to perform soft clustering and apply the method to non-stationary neuroactivity data. In addition, for the effectiveness of the method, we apply the developed method to multiple synthetic fluorescence data generated from the electrical potential data in leaky integrated-and-fire model. Copyright © 2022, The Authors. All rights reserved.

关键词： Neurons

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：