Although conventional controlsystems are simple and widely used, they may not be effective for complex and uncertain systems. This study proposes a Hermite broad-learning recurrent neural network (HBRNN) with a wide ...
详细信息
Recently, more mobile energy storage models have been designed and used. Among them, the containerised ones, thanks to their standard dimensions, offer a variant that can be easily transported and installed where need...
详细信息
To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under...
详细信息
To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.
This paper proposes a multi-time collaborative restoration model for integrated electricity-gas distribution sys-tems(IEGDSs)considering multiple resources after extreme weather *** on the linearized power flow constr...
详细信息
This paper proposes a multi-time collaborative restoration model for integrated electricity-gas distribution sys-tems(IEGDSs)considering multiple resources after extreme weather *** on the linearized power flow constraints of the unbalanced electrical distribution system(EDS)and gas distribution system(GDS),this problem can be formulated as a mixed-integer linear programming(MILP)*** improve the efficiency and veracity of the solution,a rolling optimiza-tion based two-stage method is developed with the first stage solved by a linear approximation model,and the second stage solved by real-time updated rolling *** solving the MILP problem using rolling optimization,the proposed model and solution method achieve efficient and reliable collaborative restoration of IEGDS considering multiple resources and unbal-anced operation characteristics of *** effectiveness of the proposed model and method is validated by using an IEGDS made of a 37-bus unbalanced EDS and 11-node *** Terms-Electricity-gas system,mix-integer linear programming,power system restoration.
The robotic airship can provide a promising aerostatic platform for many potential *** applications require a precise autonomous trajectory tracking control for *** has a nonlinear and uncertain *** is prone to wind d...
详细信息
The robotic airship can provide a promising aerostatic platform for many potential *** applications require a precise autonomous trajectory tracking control for *** has a nonlinear and uncertain *** is prone to wind disturbances that offer a challenge for a trajectory tracking control *** paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed *** uses extended Kalman filter(EKF)for uncertainty and disturbance *** estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory *** comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship *** proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model *** stability and convergence of the proposed method are investigated using the Lyapunov stability *** simulation results show that the proposed method efficiently tracks the desired *** method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.
Faults on distribution networks due to abnormal weather events can lead to disruption and can cause high socio-economic losses. In line with the rising frequency of such events, the paper proposes an algorithm for the...
详细信息
Data-driven materials science has realized a new paradigm by integrating materials domain knowledge and machine-learning(ML)***,ML-based research has often overlooked the inherent limitation in predicting unknown data...
详细信息
Data-driven materials science has realized a new paradigm by integrating materials domain knowledge and machine-learning(ML)***,ML-based research has often overlooked the inherent limitation in predicting unknown data:extrapolative performance,especially when dealing with small-scale experimental ***,we present a comprehensive benchmark for assessing extrapolative performance across 12 organic molecular *** large-scale benchmark reveals that conventional ML models exhibit remarkable performance degradation beyond the training distribution of property range and molecular structures,particularly for small-data *** address this challenge,we introduce a quantum-mechanical(QM)descriptor dataset,called QMex,and an interactive linear regression(ILR),which incorporates interaction terms between QM descriptors and categorical information pertaining to molecular *** QMex-based ILR achieved state-of-the-art extrapolative performance while preserving its *** benchmark results,QMex dataset,and proposed model serve as valuable assets for improving extrapolative predictions with small experimental datasets and for the discovery of novel materials/molecules that surpass existing candidates.
In this paper,the problem of online distributed optimization subject to a convex set is studied via a network of *** agent only has access to a noisy gradient of its own objective function,and can communicate with its...
详细信息
In this paper,the problem of online distributed optimization subject to a convex set is studied via a network of *** agent only has access to a noisy gradient of its own objective function,and can communicate with its neighbors via a *** handle this problem,an online distributed stochastic mirror descent algorithm is *** works on online distributed algorithms involving stochastic gradients only provide the expectation bounds of the *** from them,we study the high probability bound of the regrets,i.e.,the sublinear bound of the regret is characterized by the natural logarithm of the failure probability's *** mild assumptions on the graph connectivity,we prove that the dynamic regret grows sublinearly with a high probability if the deviation in the minimizer sequence is sublinear with the square root of the time ***,a simulation is provided to demonstrate the effectiveness of our theoretical results.
Parkinson’s disease (PD) is a neurodegenerative disorder with slow progression whose symptoms can be identified at late stages. Early diagnosis and treatment of PD can help to relieve the symptoms and delay progressi...
详细信息
Breast cancer is among the major frequent types of cancer worldwide, causing a significant death rate every year. It is the second most prevalent malignancy in Egypt. With the increasing number of new cases, it is vit...
详细信息
暂无评论