检索结果-内蒙古大学图书馆

A Consumer Electronics-Enhanced UAV System for Agricultural Farm Tracking With Fuzzy SMO and Actuator Fault Detection control Algorithms

引用

IEEE Transactions on Consumer Electronics 2025年

作者： Bilal, Hazrat Aslam, Muhammad Shamrooz Tian, Yibin Ullah, Inam Ayouni, Sarra Vasilakos, Athanasios V. College of Mechatronics and Control Engineering College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China China University of Mining and Technology Artificial Intelligence Research Institute Xuzhou2211106 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Gachon University Department of Computer Engineering Seongnam13120 Korea Republic of Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan Princess Nourah bint Abdulrahman University Department of Information Systems College of Computer and Information Sciences Saudi Arabia Grimstad Norway

The adoption of agricultural robots, or agrobots, has revolutionized modern farming operations, ranging from crop monitoring to automated harvesting, significantly boosting productivity. Motivated by the rapid advancements in agrobots and their integration into smart agricultural practices, this study proposes an autonomous trajectory tracking system for wheat farms using quadcopter UAVs. To address actuator fault detection, including stuck faults and partial loss of efficiency, a TSF-H∞-SMO (Takagi-Sugeno Fuzzy-based H∞ Sliding Mode Observer) fault detection framework is introduced. The approach initiates with the derivation of a TSF (Takagi-Sugeno Fuzzy) attitude control model that integrates an uncertainty term, constructed from the original nonlinear dynamics of the UAV and approximated through local linear models at four equilibrium positions. An actuator fault model is subsequently integrated to develop a comprehensive TSF-UAV model, accounting for actuator faults. The TSF-H∞-SMO is then designed using matrix coordinate transformation to enable precise fault detection. The fault detection capabilities of the TSF-H∞-SMO are evaluated through simulations on the TSF-UAV model under SISO (single-input single-output) actuator fault scenarios. The experimental results validate the proposed system, demonstrating its ability to detect a range of actuator faults accurately and promptly. The analysis reveals a proportional relationship between the amplitude of the state change and the severity of the fault, attributed to the interaction between system states and actuator flaps. This approach underscores the potential for deploying autonomous UAV-based fault detection and trajectory tracking systems in agricultural applications. Furthermore, integrating such advanced fault-tolerant control algorithms holds promise for consumer technology applications, where precision, reliability, and robustness are critical to enhancing system performance and operational efficiency. © 1

关键词： Agricultural robots

来源：评论

学校读者我要写书评

暂无评论

ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimation 23

ASDF: Assembly State Detection Utilizing Late Fusion by Inte...

引用

23rd IEEE International Symposium on Mixed and Augmented Reality, ISMAR 2024

作者： Schieber, Hannah Li, Shiyu Corell, Niklas Beckerle, Philipp Kreimeier, Julian Roth, Daniel Technical University of Munich Human-Centered Computing and Extended Reality Lab TUM School of Medicine and Health TUM School of Computation Information and Technology Clinic for Orthopedics and Sports Orthopedics TUM University Hospital Munich Germany Erlangen-Nürnberg Department Artificial Intelligence in Biomedical Engineering Erlangen Germany Erlangen-Nürnberg Chair of Autonomous Systems and Mechatronics Erlangen Germany

ISBN: (纸本)9798331516475

In medical and industrial domains, providing guidance for assembly processes can be critical to ensure efficiency and safety. Errors in assembly can lead to significant consequences such as extended surgery times and prolonged manufacturing or maintenance times in industry. Assembly scenarios can benefit from in-situ augmented reality visualization, i.e., augmentations in close proximity to the target object, to provide guidance, reduce assembly times, and minimize errors. In order to enable in-situ visualization, 6D pose estimation can be leveraged to identify the correct location for an augmentation. Existing 6D pose estimation techniques primarily focus on individual objects and static captures. However, assembly scenarios have various dynamics, including occlusion during assembly and dynamics in the appearance of assembly objects. Existing work focus either on object detection combined with state detection, or focus purely on the pose estimation. To address the challenges of 6D pose estimation in combination with assembly state detection, our approach ASDF builds upon the strengths of YOLOv8, a real-time capable object detection framework. We extend this framework, refine the object pose, and fuse pose knowledge with network-detected pose information. Utilizing our late fusion in our Pose2State module results in refined 6D pose estimation and assembly state detection. By combining both pose and state information, our Pose2State module predicts the final assembly state with precision. The evaluation of our ASDF dataset shows that our Pose2State module leads to an improved assembly state detection and that the improvement of the assembly state further leads to a more robust 6D pose estimation. Moreover, on the GBOT dataset, we outperform the pure deep learning-based network and even outperform the hybrid and pure tracking-based approaches. © 2024 IEEE.

关键词： Augmented reality

来源：评论

学校读者我要写书评

暂无评论

Robust Sliding Manifold Design for Uncertain Linear systems

Robust Sliding Manifold Design for Uncertain Linear Systems

引用

European control Conference (ECC)

作者： Edoardo Vacchini Nikolas Sacchi Michele Cucuzzella Antonella Ferrara Department of Electrical Computer Science and Biomedical Engineering University of Pavia Pavia Italy Center for Systems and Control ENTEG Faculty of Science and Engineering (FSE) University of Groningen (UG) Groningen Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper proposes a novel approach for the design of stabilizing sliding manifolds for linear systems affected by model uncertainties and external disturbances. In classical sliding mode control approaches, rejecting model uncertainties and external disturbances often relies on designing a dis-continuous control law with a suitable gain. Specifically, the greater the uncertainty, the larger the control gain. However, this approach might be detrimental to the plant. Instead, the proposed technique deals with this problem by focusing on the design of a suitable sliding manifold, where stability is guaranteed despite model uncertainties. This approach exhibits several benefits such as not needing any further identification process and designing a smaller control gain.

关键词： Manifolds Linear systems Uncertainty RLC circuits Stability analysis Mathematical models Robustness

来源：评论

学校读者我要写书评

暂无评论

A time-coded multi-concentration microfluidic chemical waveform generator for high-throughput probing suspension single-cell signaling

引用

Chinese Chemical Letters 2022年第6期33卷 3091-3096页

作者： Yiran Guo Peng Chen Zhaolong Gao Yiwei Li Shunji Li Xiaojun Feng Bi-Feng Liu The Key Laboratory for Biomedical Photonics of MOE at Wuhan National Laboratory for Optoelectronics-Hubei Bioinformatics and Molecular Imaging Key Laboratory Systems Biology ThemeDepartment of Biomedical EngineeringCollege of Life Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

The cellular response to the complex extracellular microenvironment is highly dynamic in time and type of extracellular *** reconstructing this process and analyzing the changes in receptor conformation on the cell membrane surface and intracellular or intercellular signaling has been a major challenge in analytical chemistry and biophysical *** this paper,a time-coded multiconcentration microfluidic chemical waveform generator was developed for the dynamic signaling probing with single-cell array of high temporal resolution,high throughput,and multi-concentration combination *** on innovative microchannel structure,sophisticated external control methods and multiplexing technology,the system not only allowed for temporally sequential permutations of the four concentrations of stimuli(time code),but also generated pulsed and continuous waveforms at different frequencies in a highly controllable ***,the single-cell trap array was set up to efficiently capture cells in suspension,dramatically increasing throughput and reducing experiment preparation *** maximum frequency of the platform was 1 Hz,and one cell could be stimulated at multiple *** show the ability of the system to investigate rapid biochemical events in high throughput,pulse stimulation and continuous stimulation of different frequencies and different time codes,combined with four concentrations of histamine(HA),were generated for probing G protein-coupled receptor(GPCR)signaling in He La ***,statistical analysis was performed for the mean peak height and mean peak area of the cellular *** believe that the time-coded multi-concentration microfluidic chemical waveform generator will provide a novel strategy for analytical chemistry,biophysics,cell signaling,and individualized medicine applications.

关键词： Microfluidics Dynamic stimulation Time code High-throughput Single-cell array

来源：评论

学校读者我要写书评

暂无评论

Idle State Detection with an Autoregressive Multiple Model Probabilistic Framework in SSVEP-Based Brain-Computer Interfaces 13th

Idle State Detection with an Autoregressive Multiple Model P...

引用

13th International Joint Conference on biomedical engineering systems and Technologies, BIOSTEC 2020

作者： Zerafa, Rosanne Camilleri, Tracey Falzon, Owen Camilleri, Kenneth P. Department of Systems and Control Engineering Faculty of Engineering University of Malta Msida Malta Centre for Biomedical Cybernetics University of Malta Msida Malta

ISBN: (纸本)9783030723781

The detection of the idle state is a key feature in developing asynchronous steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs). Despite the large number of successful SSVEP detection methods, only a few studies have explicitly included the detection of the idle state. This work demonstrates the feasibility of a novel autoregressive multiple model (AR-MM) probabilistic framework for the detection of SSVEPs and the idle state. In a MM framework an SSVEP is identified by selecting one of the candidate models, each representing a particular SSVEP class, that best represents the dynamics of the data. An average classification accuracy of 78.94 ± 10.28% and an information transfer rate (ITR) of 28.85 ± 9.39 bpm are obtained for the 6-class SSVEP dataset in a longitudinal study. Furthermore, this work quantifies the performance of the AR-MM framework, that provides a measure of probability, for idle state detection. An average area under curve (AUC) of 0.83 is achieved with different threshold settings for idle state detection. The idle state could be detected with 81% average accuracy when considering maximum idle state and non-idle state detection rates. The results, obtained from a single-channel analysis, validate that the AR-MM framework is a good candidate for SSVEP detection and also for the idle state detection when compared with two multivariate methods, the canonical correlation analysis (CCA) and its extension, the filter bank canonical correlation analysis (FBCCA). With only a pair of electrodes required for the AR-MM approach, this is more practical for daily use of BCI applications, where a minimal amount of channels are desirable. © 2021, Springer Nature Switzerland AG.

关键词： Brain computer interface

来源：评论

学校读者我要写书评

暂无评论

control-oriented modeling and passivity analysis of thermal dynamics in a multi-producer district heating system

引用

IFAC-PapersOnLine 2023年第1期56卷 175-180页

作者： Saeed Ahmed Juan E. Machado Michele Cucuzzella Jacquelien M.A. Scherpen Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen The Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Italy

Climate change and geopolitics have led to the conception of plans for reducing greenhouse gas emissions and improving the sustainability of existing fossil-based energy systems. In this respect, district heating has been identified as an indispensable player for its potential to integrate seamlessly environmentally-friendly heat sources. To improve the efficiency of these district heating systems, optimal operation schemes can be devised and enforced through control systems. To this end, we present a control-oriented nonlinear ODE-based model of temperature dynamics in a multi-producer district heating system. The model features a modular design and comprises the thermal dynamics of heat exchangers of producers and consumers interconnected by a distribution network of meshed topology. Then, we establish passivity properties and zero-state detectability for the modeled temperature dynamics that could be exploited for controller design and solving constrained optimization problems.

关键词： District heating thermal dynamics Krasovskii passivity shifted passivity zero-state detectability

来源：评论

学校读者我要写书评

暂无评论

基于正交质谱的N-糖组谱揭示哈夫病潜在病原学

引用

engineering 2023年第7期26卷 63-73,I0003页

作者：刘思刘圆圆林佳静刘笔锋何振宇吴晓旻刘欣 The Key Laboratory for Biomedical Photonics of the MOE at Wuhan National Laboratory for Optoelectronics–Hubei Bioinformatics and Molecular Imaging Key Laboratory Systems Biology ThemeDepartment of Biomedical EngineeringCollege of Life Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Wuhan Center for Disease Control&Prevention Wuhan 430015China

食用煮熟的小龙虾可能导致哈夫病(HD),该病被认为是由不明毒素引起的,而病因尚不清楚。N-糖组的剖析将促进破译疾病的分子机制,而HD相关的糖基化从未被探索过。2019-2020年期间,本研究团队招募了来自武汉市疾病预防控制中心的90份HD患... 详细信息

食用煮熟的小龙虾可能导致哈夫病(HD),该病被认为是由不明毒素引起的,而病因尚不清楚。N-糖组的剖析将促进破译疾病的分子机制,而HD相关的糖基化从未被探索过。2019-2020年期间,本研究团队招募了来自武汉市疾病预防控制中心的90份HD患者和对照组血清样本。本文中,采用基于高通量的正交质谱对HD中血清和血清衍生的IgG的N-糖组谱进行了表征。数据显示,HD与总血清糖蛋白的核心岩藻糖基化和单半乳糖醇化升高有关。血清IgG水平是HD患者的良好指标。此外,IgG的差异半乳糖基化和唾液酸化与HD密切相关。值得注意的是,IgG1和IgG2的半乳糖基化和唾液酸化的变化具有亚类特异性。有意义的是,IgG2或IgG3/4的唾液酸化和半乳糖基化改变与HD的临床标志物密切相关。本研究表明差异化IgG N-糖基化与HD的关联,为这种罕见疾病的病因提供了新的见解。

关键词： Haff disease Serum Immunoglobulin G Glycosylation Disease pathogenesis

来源：评论

学校读者我要写书评

暂无评论

Batch constrained multi-objective Bayesian optimization using the example of ultrasonic wire bonding

Batch constrained multi-objective Bayesian optimization usin...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Fabian Reiling Christian Henke Matthias Hunstig Stefan Gröger Ansgar Trächtler department Scientific Automation Fraunhofer Institute for Mechatronic Systems Design Paderborn Germany Deputy Head of Research at Hesse GmbH Paderborn Germany Head of Chair of Control Engineering and Mechatronics Paderborn Germany

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Setting optimum process parameters for complex manufacturing processes such as ultrasonic wire bonding is already challenging for one target variable. Due to numerous influencing physical factors, such processes often lack the necessary detailed physical models. Due to the lack of these models, such processes cannot be adjusted to an optimum using classic optimization methods. In manufacturing processes in particular, the process must be optimized with regard to several objectives such as process time or quality. A popular method for optimizing such processes without models is multi-objective Bayesian optimization. For this purpose, surrogate models in the form of Gaussian processes are used in combination with a multi-objective acquisition function. In real processes, parallel function evaluation offers advantages in terms of trial efficiency and scalability. In this paper, we present a new algorithm for batch-constrained Bayesian multi-objective optimization. With this algorithm, an arbitrary number of function evaluations per iteration can be specified, whereby a more efficient determination of the Pareto front approximation can be achieved in real applications. For this purpose, the Expected Hypervolume Improvement is extended by a term to consider a quality criterion. Using the ultrasonic wire bonding process as an example, we experimentally prove that the proposed framework is able to approximate the Pareto front of the system with only a few function evaluations. For this purpose, the process capability index should be maximized and the process time minimized.

关键词： Manufacturing processes mechatronics Scalability Optimization methods Predictive models Approximation algorithms Acoustics

来源：评论

学校读者我要写书评

暂无评论

Trust Establishment for the Role-Based Collaborative Multi-Robot systems

Trust Establishment for the Role-Based Collaborative Multi-R...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Behzad Akbari Haibin Zhu Ya-Jun Pan Department of Mechanical Engineering Advanced Control and Mechatronics Laboratory Dalhousie University Halifax NS Canada Department of Computer Science and Mathematics Collaborative Systems Laboratory Nipissing University NorthBay ON Canada

Trust evaluation and trust establishment play crucial roles in the management of trust within a multi-agent system. When it comes to collaboration systems, trust becomes directly linked to the specific roles performed by agents. The Role-Based Collaboration (RBC) methodology serves as a framework for assigning roles that facilitate agent collaboration. Within this context, the behavior of an agent with respect to a role is referred to as a process role. This research paper introduces a role engine that incorporates a trust establishment algorithm aimed at identifying optimal and reliable process roles. In our study, we define trust as a continuous value ranging from 0 to 1. To optimize trustworthy process roles, we have developed a consensus-based Gaussian Process Factor Graph (GPFG) tool. Our simulations and experiments validate the feasibility and efficiency of our proposed approach with autonomous robots in unsignalized intersections and narrow hallways.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Serrated chip formation in machining of difficult to cut metallic materials: a comprehensive review

引用

Critical Reviews in Solid State and Materials Sciences 2025年

作者： Zhao, Zejia Liu, Chujun Xu, Bo Wang, Jingwei Yao, Yingxue Yin, Tengfei To, Suet Yang, Yang Institute of Semiconductor Manufacturing Research College of Mechatronics and Control Engineering Shenzhen University Shenzhen China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Department of Materials Science Shenzhen MSU-BIT University Shenzhen China Shenzhen China

Serrated cutting chips are usually observed in the machining of difficult to cut metallic materials such as titanium alloys, steels, and nickel-based alloys. Understanding the formation mechanism and influencing factors to generate serrated chips is meaningful for improving the machinability of the difficult to cut materials since the formation of serrated chips poses high risks on the vibration of cutting tools and further affects the surface quality of the workpiece. To date, extensive studies have been conducted on the investigation of serrated chip formation in the machining of difficult to cut materials, but there is still a lack of a comprehensive review to clarify the formation mechanism and summarize the factors affecting the serrated chip characteristics. In this review, two commonly used mechanisms, i.e., adiabatic shear band (ASB) theory and periodical crack formation (PCF) theory, are summarized and discussed with respect to theoretical analyses and experimental verifications. Serrated chip formation in different difficult to cut alloys was also systematically reviewed, considering materials inherent properties such as high hardness, poor thermal conductivity, or low fracture toughness. Besides, some critical factors, including cutting speeds, feed rates, cutting tools, external energy sources, humidity, and temperature are highlighted to illustrate their effects on the serrated chip formation. In addition, challenges and perspectives about the serrated chip formation in machining of difficult to cut metallic materials are proposed to give instruction to future research. © 2025 Taylor & Francis Group, LLC.

关键词： Titanium alloys

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：