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2021中国智能自动化大会(CIAC 2021)

作者： Kangyao Huang Jingyu Chen John Oyekan Xinyu Zhang Tsinghua University School of Vehicle and Mobility Department of Automatic Control and Systems Engineering The University of Sheffield

Collaboration between robots provides solutions for transporting more complex and heavier loads. In this work, inspired by the ant colony foraging and transport, we put forward two collaborative models, Coupled-Carriers and Navigator-Carrier, for aerial cooperative transport. To achieve this, a linear quadratic regulator(LQR) is applied to optimize the performance. The results show the task of dual-drone transport of a bar load is successfully accomplished.

关键词： Cooperative transport Swarm intelligence Swarm robotics Multi-agent system Optimal control

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

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

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

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A Generalized Solution Approach to Matrix Games with 2-Tuple Linguistic Payoffs 1st

A Generalized Solution Approach to Matrix Games with 2-Tupl...

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1st International Conference on Mathematical Modelling, Computational Intelligence and Renewable energy, MMCITRE 2020

作者： Verma, Rajkumar Singh, Manjit Merigó, José M. Department of Management Control and Information Systems University of Chile Av. Diagonal Paraguay 257 Santiago8330015 Chile Department of Mathematics DCR University of Science and Technology Murthal Sonepat131039 India Faculty of Engineering and Information Technology School of Information Systems and Modeling University of Technology Sydney Sydney Australia

ISBN: (纸本)9789811599521

In real-world, game theory has been found great success in solving competitive decision-making problems more effectively. This paper develops a generalized approach to solve matrix games with payoffs represented by 2-tuple linguistic values. We define a pair of non-linear optimization models to solve this class of games, which include an attitudinal parameter λ. By considering different values of parameter λ, we can obtain different sets of optimal strategies corresponding to players as per our requirement. Finally, a numerical example is given to show the flexibility and applicability of the developed method. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Game theory

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Predicting EEG Responses to Attended Speech via Deep Neural Networks for Speech

Predicting EEG Responses to Attended Speech via Deep Neural ...

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

作者： Emina Alickovic Tobias Dorszewski Thomas U. Christiansen Kasper Eskelund Leonardo Gizzi Martin A. Skoglund Dorothea Wendt Eriksholm Research Centre Denmark Department of Electrical Engineering Division of Automatic Control Linköping University Linkoping Sweden Institute for Modelling and Simulation of Biomechanical Systems University of Stuttgart Germany Oticon A/S Denmark Department of Health Technology Technical University of Denmark Denmark

Attending to the speech stream of interest in multi-talker environments can be a challenging task, particularly for listeners with hearing impairment. Research suggests that neural responses assessed with electroencephalography (EEG) are modulated by listener’s auditory attention, revealing selective neural tracking (NT) of the attended speech. NT methods mostly rely on hand-engineered acoustic and linguistic speech features to predict the neural response. Only recently, deep neural network (DNN) models without specific linguistic information have been used to extract speech features for NT, demonstrating that speech features in hierarchical DNN layers can predict neural responses throughout the auditory pathway. In this study, we go one step further to investigate the suitability of similar DNN models for speech to predict neural responses to competing speech observed in EEG. We recorded EEG data using a 64-channel acquisition system from 17 listeners with normal hearing instructed to attend to one of two competing talkers. Our data revealed that EEG responses are significantly better predicted by DNN-extracted speech features than by hand-engineered acoustic features. Furthermore, analysis of hierarchical DNN layers showed that early layers yielded the highest predictions. Moreover, we found a significant increase in auditory attention classification accuracies with the use of DNN-extracted speech features over the use of hand-engineered acoustic features. These findings open a new avenue for development of new NT measures to evaluate and further advance hearing technology.

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Optimizing chemical Phosphorus Removal for Wastewater Treatment: Insights from Binary Machine Learning Modeling with Elasticity and Productivity Evaluation

SSRN

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SSRN 2024年

作者： Huang, Runyao Wang, Hongtao Mąkinia, Jacek Jin, Sitian Zhou, Zhen Zhang, Ming Yu, Chenyang Xie, Li College of Environmental Science and Engineering Key Laboratory of Yangtze River Water Environment Ministry of Education State Key Laboratory of Pollution Control and Resource Reuse Tongji University Shanghai200092 China UNEP-Tongji Institute of Environment for Sustainable Development Tongji University Shanghai200092 China Shanghai Institute of Pollution Control and Ecological Security Tongji University Shanghai200092 China Faculty of Civil and Environmental Engineering Gdańsk University of Technology Narutowicza Street 11/12 Gdańsk80-233 Poland Shanghai Engineering Research Center of Energy – Saving in Heat Exchange Systems College of Environmental and Chemical Engineering Shanghai University of Electric Power Shanghai200090 China Shanghai Chengtou Wastewater Treatment Co. Ltd Shanghai201203 China

Ensuring compliance with legal discharge regulations for total phosphorus (TP) is crucial in wastewater treatment plants (WWTPs), considering the minimization of chemical consumption like poly aluminum chloride (PAC). However, the relationship between actual TP removal and PAC consumption presents numerical complexities, hindering data-driven modeling efforts. This study analyzed daily observations over one-year period in WWTP to assess elasticity and productivity, revealing decoupling and congestion patterns between PAC consumption and TP removal. Binary dependent features were established for modeling. The results highlighted the importance of wastewater inflow and biological treatment features, suggesting PAC reduction to mitigate decoupling and congestion. Thus, insights were obtained for sustainable WWTP operations to sufficiently leverage influent characteristics and utilize biological treatment to minimize chemical dosing. The assessment workflow, incorporating elasticity and productivity considerations, establishes a robust basis for further optimization within a normalized production trajectory in wastewater sector, concurrently lowering resource depletion and enhancing environmental benefits. © 2024, The Authors. All rights reserved.

关键词： Wastewater treatment

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Hardware-in-the-Loop Simulation of Vehicle-Manipulator systems for Physical Interaction Tasks

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Syste...

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

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

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Naked-eye observation of water-forming reaction on palladium etalon:transduction of gas-matter reaction into light-matter interaction

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PhotoniX 2023年第1期4卷 349-363页

作者： Jongsu Lee Eui-Sang Yu Taehyun Kim In Soo Kim Seok Chung Seung Jae Kwak Won Bo Lee Yusin Pak Yong-Sang Ryu Sensor System Research Center Korea Institute of Science and TechnologySeoul 02792Republic of Korea Department of Electrical and Computer Engineering Seoul National UniversitySeoul 08826Republic of Korea Smart Materials Research Section Electronics and Telecommunications Research InstituteDaejeon 34129Republic of Korea Department of Micro/Nano Systems Korea University02841 SeoulRepublic of Korea Nanophotonics Research Center Korea Institute of Science and TechnologySeoul 02792Republic of Korea School of Mechanical Engineering Korea UniversitySeoul 02841Republic of Korea School of Chemical and Biological Engineering Seoul National UniversitySeoul 08826Republic of Korea Interdisciplinary Program in Precision Public Health Korea UniversitySeoul 02481Republic of Korea School of Biomedical Engineering Korea UniversitySeoul 02481Republic of Korea

Palladium is the most prominent material in both scientific and industrial research on gas storage,purification,detection,and catalysis due to its unique properties as a catalyst and hydrogen *** the dynamic optical phenomena of palladium reacting with hydrogen,transduction of the gas-matter reaction into light-matter interaction is attempted to visualize the dynamic surface chemistry and reaction *** simple geometry of the metal-dielectric-metal structure,Fabry-Perot etalon,is employed for a colorimetric reactor,to display the catalytic reaction of the exposed gas via water-film/bubble formation at the dielectric/palladium *** adsorption/desorption behavior and catalytic reaction of hydrogen and oxygen on the palladium surface display highly repeatable and dramatic color changes based on two distinct water formation trends:the foggy effect by water bubbles and the whiteout effect by water film *** and experiments demonstrate the robustness of the proposed Fabry-Perot etalon as an excellent platform for monitoring the opto-physical phenomena driven by heterogeneous catalysis.

关键词： Palladium Hydrogen Oxygen Fabry-Perot resonators Colorimetric sensors Water-forming reaction

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Fault-tolerant control of semi-active suspension in case of oil leakage of magnetorheological damper

Fault-tolerant control of semi-active suspension in case of ...

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European control Conference (ECC)

作者： Hakan Basargan Filip Jeniš András Mihály Péter Gáspár Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2 Budapest Hungary Faculty of Mechanical Engineering Institute of Machine and Industrial Designs Brno University of Technology Technicka 2 Brnos Czech Republic Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Kende u. 13-17 Budapest Hungary

The paper presents a reconfigurable fault-tolerant control strategy for a semi-active suspension using magnetorheological (MR) damper. The aim of the control reconfiguration is to handle the adverse behaviour of the MR damper due to oil leakage induced by the wear of the suspension component. The proposed method relies on the data driven model of the MR damper, using an estimation procedure to quantify the healthiness of the damper and to estimate the performance degradation due to the oil leakage. The reconfiguration control strategy is founded on the Linear Parameter Varying (LPV) framework, where a scheduling variable is defined to represent the healthiness level of the MR damper. By the scaling of the control action through the scheduling variable, the performance degradation of the MR damper can be compensated to match the behaviour of the healthy dampers. The proposed method is demonstrated through simulations, comparing the performance of the fault-tolerant LPV control to conventional semi-active control methods

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Battery capacity prediction for electric vehicles using an ensemble model in a fog computing framework

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Computers and Electrical engineering 2025年 126卷

作者： Yara A. Sultan Asmaa H. Rabie Amal Moharam Abdelfattah A. Eladl Mechatronics Department Faculty of Engineering Horus University-Egypt New Damietta Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura Egypt Electrical Engineering Department Faculty of Engineering Mansoura University Mansoura 35516 Egypt

Electric Vehicles (EVs) are crucial in addressing environmental issues associated with traditional vehicles. However, accurately predicting battery capacity remains challenging for optimizing EV performance. This paper presents a Capacity Level Prediction Strategy (CLPS) consisting of three layers: Internet of Things (IoT), fog, and cloud. IoT data is initially sent to the fog layer for quick analysis and decision-making, then transferred to the cloud for long-term storage and future analysis. A Capacity Level Prediction Model (CLPM) is implemented in the fog layer, featuring two phases: preprocessing and capacity prediction. The preprocessing phase addresses missing data, outlier rejection, and feature selection. The prediction phase utilizes an Ensemble Prediction Model (EPM), combining the results of Random Forest (RF) and Deep Neural Network (DNN) models, with Logistic Regression (LR) for aggregation. The proposed CLPM outperforms existing approaches, achieving high accuracy (Mean Squared Error (MSE): 0.0003, coefficient of determination (R²): 0.9925, Mean Absolute Percentage Error (MAPE): 0.0066, and Mean Absolute Error (MAE): 0.01077639), and significantly improving battery monitoring, charging efficiency, and the overall lifespan of EVs.

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Integrated Enzyme Hydrolysis Assisted Cellulose Nanofibril (Cnf) Fabrication: A Sustainable Approach to Paper Mill Sludge (Pms) Management

SSRN

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SSRN 2023年

作者： Li, Jing Alamdari, Navid Etebari Aksoy, Burak Parit, Mahesh Jiang, Zhihua School of Ecology and Environment Beijing Technology and Business University Beijing100048 China State Environmental Protection Key Laboratory of Food Chain Pollution Control Beijing Technology and Business University Beijing100048 China Alabama Center for Paper and Bioresource Engineering Department of Chemical Engineering Auburn University AuburnAL36849 United States

The landfilling of paper mill sludge (PMS) has been restricted or even banned in many countries due to the raised concern about greenhouse gas (GHG) emissions and contamination of the soil and water, calling for a sustainable PMS management approach. The potential valorization of PMS to nanomaterials combined with traditional biorefinery was examined in this work. Three types of PMS-derived cellulose nanofibrils (CNFs) were prepared and evaluated: enzymatically assisted CNF (AU: with in-house produced enzyme and CT: with commercial enzyme), mechanically pretreated CNF (BT), and chemically pretreated CNF by TEMPO oxidation (TEMPO). It was found that enzyme-assisted mechanical fibrillation-derived CNFs had a comparable average diameter (27.9 nm for AU and 22.7 nm for CT) with that produced from mechanical pretreatment (26.5 nm for BT) and TEMPO oxidation pretreatment (20.0 nm for TEMPO), and they showed the best drainage properties among the three types of CNF. The CNFs resulting from enzymatic pretreatment reduced 15% of energy consumption compared to the mechanical method and had better thermostability than TEMPO oxidation method. In addition, the on-site produced enzyme showed similar performance to the commercial enzymes towards the CNF properties. These findings provide new insights into a promising integrated strategy in engineering CNF from PMS with on-site enzyme production as a novel and sustainable approach for PMS management and valorization. © 2023, The Authors. All rights reserved.

关键词： Enzymes

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