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Research Square 2024年

作者： Mabrouk, Besma Jazzar, Nessrine Sallemi, Lamia Hamida, Ahmed Ben Advanced Technologies for Medicine and Signals ATMS Department of Electrical and Computer Engineering National Engineers School Sfax University Tunisia Networked Objects Control and Communication Systems National Engineering School Sfax Tunisia

Alzheimer’s disease (AD), recognized as the second-most impactful neurological disorder and currently incurable, stands as the leading cause of dementia. An imperative research focus is efficiently diagnosing the stages of patients, distinguishing early or late Mild Cognitive Impairment and AD from those with normal cognitive function. Advancements in anatomical and diffusion-weighted imaging, coupled with machine learning techniques, have significantly progressed in this predictive domain. However, in real-world trials, datasets often contain numerous features, and the curse of dimensionality can introduce challenges such as increased computational complexity, overfitting, and diminished model interpretability. To address these issues, the present study explores the efficacy of Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) as dimensionality reduction techniques. LDA, a supervised technique emphasizing class separability, surpasses PCA, particularly in selecting features that significantly contribute to discriminating between classes. The 3D-LDA features obtained were subsequently assessed across various machine learning algorithms, leading to the establishment of a 4-way classification framework that utilized the K-Nearest Neighbors model. The outcome of this evaluation yielded an impressive accuracy rate of 87% in predicting the four different classes. © 2024, CC BY.

关键词： Nearest neighbor search

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A Novel Spindle Speed and Angle Estimation Strategy in Multi-material Robotic Drilling

A Novel Spindle Speed and Angle Estimation Strategy in Multi...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Bin Chen Chaoyue Niu Erica Smith Rob Bramley Pete Crawforth Mahdi Mahfouf Visakan Kadirkamanathan Department of Automatic Control and Systems Engineering University of Sheffield Sheffield U.K. Advanced Manufacturing Research Centre with Boeing University of Sheffield Rotherham U.K.

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Aircraft assembly involves drilling vast numbers of holes, with stringent quality requirements, in multi-material stacks. To achieve high quality functional holes, one of the process parameters that is controlled carefully is the spindle speed. Variations in spindle speed from the programmed value can be indicative of the quality of the manufactured part and thus can be useful for process monitoring. Estimation of the tool angle has potential benefits in monitoring the spatial localisation of hole defects. Rotational speed estimation from encoded type detectors is an established methodology but the literature on parameter-free angle estimation is sparse. To address these challenges, this paper proposes a set of novel strategies for speed and angle estimation. The strategy includes the use of a fibre optic sensor with a novel encoding structure to facilitate angle estimation, and the analysis of the sensor signal using a staged signal processing framework. Experimental results from a real robotic drilling operation of a multi-material stack are given to demonstrate the effectiveness of the estimation strategy.

关键词： Drilling Process monitoring Velocity control Estimation Signal processing Robot sensing systems Sensors Timing Transient analysis Surface treatment

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Pixel-based Hole Quality Evaluation in Robot Drilling Manufacturing Process

Pixel-based Hole Quality Evaluation in Robot Drilling Manufa...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Chaoyue Niu Bin Chen Erica Smith Robert Bramley Pete Crawforth Mahdi Mahfouf Visakan Kadirkamanathan Department of Automatic Control and Systems Engineering University of Sheffield Sheffield U.K. Advanced Manufacturing Research Centre with Boeing University of Sheffield Rotherham U.K.

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Aircraft assembly entails drilling numerous holes, often in multi-material stacks, then joining parts with fasteners fitted through the holes. There are stringent quality requirements on the holes, and assessment of hole quality is crucial to ensuring the integrity of the joints. Carbon fibre reinforced polymer (CFRP) is a commonly used material in aircraft structures due to its desirable properties. However, it is susceptible to defects not associated with metals, such as delamination and uncut fibres. While there have been multiple metrics for assessment of these defects proposed in literature, relatively few attempts to consolidate them have been seen. Furthermore, common measurement methods used for assessing these defects (e.g. 3D-microscopy) are well established, but can be time-consuming; manual interrogation of raw inspection data can also be highly subjective. To address these challenges, this paper proposes a set of combined metrics along with an automatic image processing framework for fast assessment of delamination and uncut fibre defects. The combined metric for the delamination region is aggregated from across six factors and uncut fibre uniform metrics from across five factors. The image processing framework receives grayscale images as inputs, taken from an optical coordinate measuring machine, and outputs the combined metrics along with eleven separate metrics. Experimental results, using a preexisting dataset from twenty-four holes on two workpieces from a real robotic drilling operation, are given to demonstrate the effectiveness of the proposed combined metrics and the corresponding image processing framework.

关键词： Measurement Optical fibers Drilling Coordinate measuring machines Robot kinematics Optical variables measurement Gray-scale Optical imaging Delamination Aircraft

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Dynamic Tip-Over Avoidance Method for Mobile Manipulators Based on the Extended Zero-Moment Point Algorithm for Human–Robot Collaboration

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Journal of Computing and Information Science in engineering 2025年第5期25卷 051003页

作者： Tao, Yong Liu, Haitao Song, Yian Deng, Changyi Wang, Baicun Zheng, Pai School of Mechanical Engineering and Automation Beihang University Beijing 100191 China Institute of Software China Industrial Control Systems Cyber Emergency Response Team Beijing 100040 China School of Mechanical Engineering Zhejiang University Hangzhou 310030 China Research Institute for Advanced Manufacturing Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Hung Hom Hong Kong

Human–robot collaboration (HRC), as an important role in intelligent manufacturing, is widely utilized in modern factories. Mobile manipulators offer greater flexibility due to the ability to simultaneously move their bases and arms. This provides them an advantage in facing challenging tasks such as flexible production and intelligent manufacturing. The environment of modern factories is complex, with slopes and thresholds at the entrance. Stability plays a fundamental role in complex environments. Therefore, for the future deployment and application of mobile manipulator in HRC, a novel dynamic tip-over avoidance method is proposed for mobile manipulators based on the extended zero-moment point (ZMP) algorithm. This method extends the traditional ZMP stability criterion into three dimensions, deriving a system-wide three-dimensional (3D) zero-moment point. The integration of the extended ZMP with redundant features facilitates adaptive weight matrix adjustments, enabling the robot to adapt its motion based on environmental constraints, thus preventing instability such as tip-over. Simulation verification is carried out withcoppeliasim. Experimental verification is performed using the MR2000 + FR3 mobile manipulator. The results confirm that the extended ZMP algorithm effectively prevents tipping in complex environments.

关键词： tip-over avoidance null-space projection Weight (Mass) mobile manipulator Stability Manipulators Robots human–robot interfaces/interactions velocity controlled manufacturing automation extended ZMP Algorithms

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Nonlinear Model Predictive control for Autonomous Sailboat with Optimization of Sail Angle

Nonlinear Model Predictive Control for Autonomous Sailboat w...

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OCEANS 2024 - Halifax, OCEANS 2024

作者： Wu, Junzhuo Pan, Ya-Jun Shen, Chao Smith, Sean Witrant, Emmanuel Dalhousie University Advanced Control and Mechatronics Lab Department of Mechanical Engineering HalifaxB3H 4R2 Canada Carleton University Department of Systems and Computer Engineering OttawaK1S-5B6 Canada Université Grenoble Alpes-CNRS GIPSA-lab GrenobleF-38000 France Dalhousie University Departement of Mechanical Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798331540081

This paper studies trajectory tracking control problems of sailing vessels using a nonlinear model predictive control (NMPC) approach with a novel sail angle optimization approach. The proposed sail angle optimization method accounts for physical constraints during practical implementation such as operational sail angle bound and rate of change in sail angles. This technique also emphasizes the potential to use the sail to plan a safe trajectory, while a simple proportional-derivative (PD) controller is used for rudder angle regulation. The NMPC is implemented for trajectory tracking control in the simulation. Results show that the proposed controller can achieve excellent tracking performance in the presence of environmental disturbances in terms of ocean waves. © 2024 IEEE.

关键词： Water waves

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Consistent CoM Trajectory Generation for Biped Locomotion

Consistent CoM Trajectory Generation for Biped Locomotion

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International Conference on Signal Processing and Integrated Networks (SPIN)

作者： Kumod K. Sharma Sunil Nimje S. E. Talole Systems & Control Group Research & Development Estt (Engrs) Pune India Department of Mechanical Engineering Defence Institute of Advanced Technology Pune India

In bipedal robot locomotion, generation of Center of Mass (CoM) trajectory forms an essential component in gait pattern generation using approximate models. Towards this, rolling sphere model as an approximate model has been widely studied for biped walk. In this work, the rolling sphere model is used to generate realizable bipedal walk by improving an existing approach. In doing so, a consistent CoM trajectory is derived with a desirable Zero Moment Point (ZMP) making the resulting gait more practical. The efficacy of the formulation has been validated through simulation using parameters of humanoid robot NAO.

关键词： Legged locomotion Humanoid robots Signal processing control systems Trajectory Foot

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Frontiers in high entropy alloys and high entropy functional materials

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Rare Metals 2024年第10期43卷 4639-4776页

作者： Wen-Tao Zhang Xue-Qian Wang Feng-Qi Zhang Xiao-Ya Cui Bing-Bing Fan Jia-Ming Guo Zhi-Min Guo Rui Huang Wen Huang Xu-Bo Li Meng-Ru Li Yan Ma Zhi-Hua Shen Yong-Gang Sun De-Zhuang Wang Fei-Yang Wang Li-Qiang Wang Nan Wang Tian-Li Wang Wei Wang Xiao-Yang Wang Yi-Han Wang Fu-Jie Yu Yu-Zhen Yin Ling-Kun Zhang Yi Zhang Jian-Yang Zhang Qi Zhao Yu-Ping Zhao Xin-Dong Zhu Yasir Sohail Ya-Nan Chen Tao Feng Qi-Long Gao Hai-Yan He Yong-Jiang Huang Zeng-Bao Jiao Hua Ji Yao Jiang Qiang Li Xiao-Ming Li Wei-Bing Liao Huai-Jun Lin Hui Liu Qi Liu Qing-Feng Liu Wei-Di Liu Xiong-Jun Liu Yang Lu Yi-Ping Lu Wen Ma Xue-Fei Miao Jie Pan Qing Wang Hong-Hui Wu Yuan Wu Tao Yang Wei-Ming Yang Qian Yu Jin-Yu Zhang Zhi-Gang Chen Liang Mao Yang Ren Bao-Long Shen Xun-Li Wang Zhe Jia He Zhu Zhen-Duo Wu Si Lan School of Materials Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China Jiangsu Key Laboratory for Advanced Metallic Materials School of Materials Science and EngineeringSoutheast UniversityNanjing 211189China Department of Physics City University of Hong KongHongKong 999077China School of Materials Science and Engineering Tianjin UniversityTianjin 300072China School of Physics and Microelectronics Zhengzhou UniversityZhengzhou 450001China Department of Mechanical Engineering Research Institute for Advanced ManufacturingThe Hong Kong Polytechnic UniversityHong Kong 100872China Center of Electron Microscopy and State Key Laboratory of Silicon Materials School of Materials Science and EngineeringZhejiang UniversityHangzhou 310027China Key Laboratory of Solidification Control and Digital Preparation Technology(Liaoning Province) School of Materials Science and EngineeringDalian University of TechnologyDalian 116024China Institute of Advanced Wear&Corrosion Resistance and Functional Materials Jinan UniversityGuangzhou 510632China School of Mechanics and Civil Engineering China University of Mining and TechnologyXuzhou 221116China School of Physical Sciences Great Bay UniversityDongguan 523000China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemical EngineeringNanjing Tech UniversityNanjing 211816China Beijing Advanced Innovation Center for Materials Genome Engineering Research Institute for Carbon NeutralityUniversity of Science and Technology BeijingBeijing 100083China Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Computing Macquarie UniversitySydney 2113Australia Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province College of Physics and Optoelectronic EngineeringShenzhen UniversityShenzhen 518060China State Key Laborato

Owing to their exceptional properties,high-entropy alloys(HEAs)and high-entropy materials have emerged as promising research areas and shown diverse ***,the recent advances in the field are comprehensively reviewed,organized into five *** first section introduces the background of HEAs,covering their definition,significance,application prospects,basic properties,design principles,and *** subsequent section focuses on cutting-edge high-entropy structural materials,highlighting developments such as nanostructured alloys,grain boundary engineering,eutectic systems,cryogenic alloys,thin films,micro-nano-lattice structures,additive manufacturing,high entropy metallic glasses,nano-precipitate strengthened alloys,composition modulation,alloy fibers,and refractory *** the following section,the emphasis shifts to functional materials,exploring HEAs as catalysts,magneto-caloric materials,corrosion-resistant alloys,radiation-resistant alloys,hydrogen storage systems,and materials for ***,the review encompasses functional high-entropy materials outside the realm of alloys,including thermoelectric,quantum dots,nanooxide catalysts,energy storage materials,negative thermal expansion ceramics,and high-entropy wave absorption *** paper concludes with an outlook,discussing future directions and potential growth areas in the *** this comprehensive review,researchers,engineers,and scientists may gain valuable insights into the recent progress and opportunities for further exploration in the exciting domains of high-entropy alloys and functional materials.

关键词： High entropy alloys Cutting-edge structural materials Cutting-edgefunctional materials

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The Effect of Muscle Artifact Reduction Methods on Few-channel SSVEPs during Head Movements

The Effect of Muscle Artifact Reduction Methods on Few-chann...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Norihisa Namura Suguru Kanoga Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan

Brain–computer interfaces (BCIs) with steady-state visual evoked potentials (SSVEPs) caused by flickering stimuli have caught attention as communication tools between human brains and external machines through a head-mounted display (HMD). When applying SSVEP-based BCIs to real-life environments, the head must be moved to watch the stimuli displayed in an HMD, which generates muscular artifacts and significantly reduces BCI performance. In this study, we examined four-class SSVEP identification accuracies by using four artifact reduction methods in the situation of moving the head for both simulation and real datasets. In the simulation dataset, we found that artifact subspace reconstruction (ASR) and multi-scale dictionary learning (MSDL) showed better results especially at low signal-to-noise ratio. In the real dataset, we observed that reducing muscular artifacts resulted in performance degradation for independent component analysis-based methods, while ASR and MSDL showed relatively limited degradation and in some cases improved performance. Our future work is to improve ASR and MSDL for high performance with real data and to apply them to an online SSVEP-based BCI where the user moves his/her head.

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CNL-ResUnet: A novel deep learning architecture for stroke image segmentation

CNL-ResUnet: A novel deep learning architecture for stroke i...

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International Conference on advanced Technologies for Signal and Image Processing (ATSIP)

作者： Nesrine Jazzar Besma Mabrouk Ali Douik Networked Objects Control and Communication Systems National Engineering School of Sousse University of Sousse Tunisia National Engineering School of Sfax University of Sfax Tunisia Department of Electrical and Computer Engineering Advanced Technologies for Medicine and Signals ATMS National Engineers School Sfax University Tunisia Networked Objects Control and Communication Systems National Engineering School Sousse Tunisia

ISBN: (数字)9798350351484

ISBN: (纸本)9798350351491

Segmentation of stroke lesions holds significant importance in enabling timely diagnosis and subsequent treatment by medical professionals. Automating this process presents technical challenges given the diverse appearance and evolving nature of lesions, discrepancies among medical experts, limited dataset availability, and the necessity for multiple MRI modalities for comprehensive imaging. This research presents an innovative method called CNL-ResUNet, specifically designed for 2D stroke image segmentation. CNL-ResUNet ingeniously incorporates residual blocks into its architecture, capitalizing on their innate capacity to facilitate seamless information flow across layers, thereby empowering the network to efficiently distill complex patterns from sparse datasets. It integrates customized skip connections to reduce semantic disparities between the encoder and decoder layers. Additionally, the architecture incorporates an innovative Classifier and Localizer (CNL) module, providing supplementary classification and localization insights with enhanced accuracy. By combining these insights with the segmentation results, CNL-ResUNet adeptly reduces the occurrence of false positives and false negatives. To evaluate the model’s performance, experiments were conducted utilizing the SISS dataset from the Ischemic Stroke Lesion Segmentation Challenge 2015. The outcomes from these experiments highlight the superiority of our approach, revealing significant qualitative and quantitative improvements across standard evaluation metrics like the Dice coefficient and Accuracy. Our proposed network demonstrates potential for advancing automated tools in stroke segmentation.

关键词： Deep learning Training Image segmentation Accuracy Semantics Stroke (medical condition) Robustness

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Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

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

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

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