In today’s era, smartphones are used in daily lives because they are ubiquitous and can be customized by installing third-party apps. As a result, the menaces because of these apps, which are potentially risky for u...
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Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system co...
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Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.
Data collection using mobile sink(s) has proven to reduce energy consumption and enhance the network lifetime of wireless sensor networks. Generally speaking, a mobile sink (MS) traverses the network region, sojournin...
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In an Internet of Things (IoT) assisted Wireless Sensor Network (WSN), the location of the Base Station (BS) remains important. BS serves as the central hub for data collection, aggregation and communication within th...
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The paper addresses the critical problem of application workflow offloading in a fog environment. Resource constrained mobile and Internet of Things devices may not possess specialized hardware to run complex workflow...
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The paper presents an approach for detecting Distributed Denial of Service (DDoS) attacks using machine learning and blockchain technology. With the increasing complexity and frequency of DDoS attacks, network securit...
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Graph Neural Networks(GNNs)have become a widely used tool for learning and analyzing data on graph structures,largely due to their ability to preserve graph structure and properties via graph representation ***,the ef...
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Graph Neural Networks(GNNs)have become a widely used tool for learning and analyzing data on graph structures,largely due to their ability to preserve graph structure and properties via graph representation ***,the effect of depth on the performance of GNNs,particularly isotropic and anisotropic models,remains an active area of *** study presents a comprehensive exploration of the impact of depth on GNNs,with a focus on the phenomena of over-smoothing and the bottleneck effect in deep graph neural *** research investigates the tradeoff between depth and performance,revealing that increasing depth can lead to over-smoothing and a decrease in performance due to the bottleneck *** also examine the impact of node degrees on classification accuracy,finding that nodes with low degrees can pose challenges for accurate *** experiments use several benchmark datasets and a range of evaluation metrics to compare isotropic and anisotropic GNNs of varying depths,also explore the scalability of these *** findings provide valuable insights into the design of deep GNNs and offer potential avenues for future research to improve their performance.
Corn, Rice, and Wheat serve as primary staple foods globally, playing a pivotal role in the economies of numerous countries. Despite their paramount importance, these cereal crops face susceptibility to various diseas...
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Alzheimer's disease is a common and complex brain disorder that primarily affects the elderly. Because it is progressing and has few effective therapies, it requires a thorough understanding of the condition;our s...
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The management of healthcare data has significantly benefited from the use of cloud-assisted MediVault for healthcare systems, which can offer patients efficient and convenient digital storage services for storin...
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