检索结果-内蒙古大学图书馆

Roadmap on soft robotics: multifunctionality, adaptability and growth without borders

Multifunctional Materials 2022年第3期5卷 032001-032001页

作者： Mazzolai, Barbara Mondini, Alessio Del Dottore, Emanuela Margheri, Laura Carpi, Federico Suzumori, Koichi Cianchetti, Matteo Speck, Thomas Smoukov, Stoyan K. Burgert, Ingo Keplinger, Tobias Siqueira, Gilberto De Freitas Vanneste, Felix Goury, Olivier Duriez, Christian Nanayakkara, Thrishantha Vanderborght, Bram Brancart, Joost Terryn, Seppe Rich, Steven I. Liu, Ruiyuan Fukuda, Kenjiro Someya, Takao Calisti, Marcello Laschi, Cecilia Sun, Wenguang Wang, Gang Wen, Li Baines, Robert Patiballa, Sree Kalyan Kramer-Bottiglio, Rebecca Rus, Daniela Fischer, Peer Simmel, Friedrich C Lendlein, Andreas Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia Italy Department of Industrial Engineering University of Florence Via di S. Marta 3 Florence50139 Italy Department of Mechanical Engineering Tokyo Institute of Technology Ookayama Meguro Tokyo152-8550 Japan The BioRobotics Institute Scuola Superiore Sant’Anna Pisa56025 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56025 Italy Plant Biomechanics Group & Botanic Garden and Cluster of Excellence livMatS @ FIT University of Freiburg Germany Active and Intelligent Materials Laboratory Queen Mary University of London LondonE1 4NS United Kingdom Wood Materials Science Institute for Building Materials ETH Zurich Zurich8093 Switzerland Cellulose and Wood Materials Laboratory Empa Swiss Federal Laboratories for Materials Science and Technology Dübendorf8600 Switzerland University of Lille Inria CNRS Centrale Lille UMR 9189 CRIStAL LilleF-59000 France Dyson School of Design Engineering Imperial College London United Kingdom Vrije Universiteit Brussel and imec Brussels Belgium Thin-Film Device Laboratory RIKEN 2-1 Hirosawa Saitama Wako351-0198 Japan Center for Emergent Matter Science RIKEN 2-1 Hirosawa Saitama Wako351-0198 Japan Electrical and Electronic Engineering and Information Systems The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan The BioRobotics Institute Scuola Superiore Sant’Anna Italy Lincoln Institute for Agri-food Technology University of Lincoln Lincoln United Kingdom Department of Mechanical Engineering National University of Singapore Singapore School of Mechanical Engineering and Automation Beihang University Beijing100191 China Department of Mechanical Engineering and Materials Science Yale University New HavenCT06511 United States CSAIL MIT Schwarzman College of Computing United States Max Planck Institute for Intelligent Systems Heisenbergstr. 3 Stuttgart70569 Germany Institute of Physical Chemistry

Soft robotics aims at creating systems with improved performance of movement and adaptability in unknown, challenging, environments and with higher level of safety during interactions with humans. This Roadmap on Soft robotics covers selected aspects for the design of soft robots significantly linked to the area of multifunctional materials, as these are considered a fundamental component in the design of soft robots for an improvement of their peculiar abilities, such as morphing, adaptivity and growth. The roadmap includes different approaches for components and systems design, bioinspired materials, methodologies for building soft robots, strategies for the implementation and control of their functionalities and behavior, and examples of soft-bodied systems showing abilities across different environments. For each covered topic, the author(s) describe the current status and research directions, current and future challenges, and perspective advances in science and technology to meet the challenges. © 2022 The Author(s). Published by IOP Publishing Ltd.

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

Robustness Of Stochastic Learning Dynamics To Player Heterogeneity In Games

Robustness Of Stochastic Learning Dynamics To Player Heterog...

引用

IEEE Annual Conference on Decision and Control

作者： Hassan Jaleel Waseem Abbas Jeff S. Shamma Department of Electrical Engineering Lahore University of Management Science (LUMS) Lahore Pakistan Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN USA Robotics Intelligent Systems & Control (RISC) Lab King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We investigate the impact of players with heterogeneous update rules on the long-term behavior of a population under stochastic learning dynamics. We show that under certain conditions, the presence of even a single heterogeneous player with a different decision making strategy can significantly alter the long-term behavior of the entire population. To quantify the impact of a heterogeneous player, we define a new notion of robustness of stochastic learning dynamics to player heterogeneity. Based on our proposed notion, an action profile that is stochastically stable under the standard setup is robust to player heterogeneity if it can still explain the long-run behavior of all the players other than the heterogeneous players. We consider two types of heterogeneous players: A confused player who randomly updates his actions and a stubborn player who never updates his action. For each of these types, we present a qualitative description of scenarios in which an action profile that is stochastically stable under the standard setup is not robust to the presence of a heterogeneous player of a particular type.

关键词： Robustness Stochastic processes Sociology Statistics Standards Games Resistance

来源：评论

学校读者我要写书评

暂无评论

Distribution system state estimation: an overview of recent developments

引用

Frontiers of Information Technology & Electronic engineering 2019年第1期20卷 4-17页

作者： Wang Gang Giannakis Georgios B Chen Jie Sun Jian Department of Electrical and Computer Engineering and Digital Technology Center University of Minnesota USA Minneapolis MN 55455 School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

In the envisioned smart grid, high penetration of uncertain renewables, unpredictable participation of (industrial) customers, and purposeful manipulation of smart meter readings, all highlight the need for accurate, fast, and robust power system state estimation (PSSE). Nonetheless, most real-time data available in the current and upcoming transmission/distribution systems are nonlinear in power system states (i.e., nodal voltage phasors). Scalable approaches to dealing with PSSE tasks undergo a paradigm shift toward addressing the unique modeling and computational challenges associated with those nonlinear measurements. In this study, we provide a contemporary overview of PSSE and describe the current state of the art in the nonlinear weighted least-squares and least-absolutevalue PSSE. To benchmark the performance of unbiased estimators, the Cramer-Rao lower bound is developed. Accounting for cyber attacks, new corruption models are introduced, and robust PSSE approaches are outlined as well. Finally, distribution system state estimation is discussed along with its current challenges. Simulation tests corroborate the effectiveness of the developed algorithms as well as the practical merits of the theory.

关键词： State estimation Cramer-Rao bound Feasible point pursuit Semidefinite relaxation Proximal linear algorithm Composite optimization Cyber attack Bad data detection

来源：评论

学校读者我要写书评

暂无评论

Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation

Predictive Inverse Kinematics: optimizing Future Trajectory ...

引用

2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Ko Ayusawa Wael Suleiman Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory) UMI13218/RL Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (IS-AIST) Japan Electrical and Computer Engineering Department Faculty of Engineering University of Sherbrooke Canada

This paper presents an inverse kinematics (IK) method which can control future velocities and accelerations for multi-body systems. The proposed IK method is formulated as a quadratic programing (QP) that optimizes future joint trajectories. The features of the proposed IK are: (1) the evaluation of accelerations at future time instances, (2) the trajectory representation that can implicitly integrate the time integral formula into QP, (3) the computation of future Jacobian matrices based on the comprehensive theory of differential kinematics proposed in our previous work. Those features enable a stable and fast IK computation while evaluating the future accelerations. We also conducted thorough numerical studies to show the efficiency of the proposed method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

用于糖尿病培训的大型语言模型:一项前瞻性研究（英文）

引用

Science Bulletin 2025年第6期 934-942页

作者：李灏萱江泽铧管洲榆包玉倩刘月星胡婷婷李佳佳刘茹涵吴量程棣纪宏伟王勇王亚星 Carol Y.Cheung 郑颖丰王继红李震吴卫兵 Cynthia Ciwei Lim Yong Mong Bee Hong Chang Tan Elif I.Ekinci David C.Klonoff Justin B.Echouffo-Tcheugui Nestoras Mathioudakis Leonor Corsino Rafael Simó Charumathi Sabanayagam Gavin Siew Wei Tan 程景煜黄天荫李华婷蔡淳毛丽娟 Lee-Ling Lim 覃宇宗盛斌贾伟平 Shanghai University of Sport School of Clinical Medicine Beijing Tsinghua Changgung Hospital Tsinghua Medicine Tsinghua University Beijing Visual Science and Translational Eye Research Institute(BERI) Tsinghua Medicine Tsinghua University Shanghai Belt and Road International Joint Laboratory of Intelligent Prevention and Treatment for Metabolic Diseases Department of Computer Science and Engineering School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Endocrinology and Metabolism Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai Diabetes Institute Shanghai Clinical Center for Diabetes MoE Key Lab of Artificial Intelligence Artificial Intelligence Institute Shanghai Jiao Tong University Department of Cardiology the Affiliated Hospital of Qingdao University CEMS NCMIS HCMS MADIS Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematics University of Chinese Academy of Sciences Chinese Academy of Sciences Key Laboratory of Systems Health Science of Zhejiang Province School of Life Science Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Beijing Institute of Ophthalmology Beijing Tongren Hospital Capital Medical University Beijing Ophthalmology and Visual Sciences Key Laboratory Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong State Key Laboratory of Ophthalmology Zhongshan Ophthalmic Center Sun Yat-sen University Guangdong Provincial Key Laboratory of Ophthalmology and Visual ScienceGuangdong Provincial Clinical Research Center for Ocular Diseases Department of Renal Medicine Singapore General Hospital Sing Health-Duke Academic Medical Centre Department of Endocrinology Singapore General Hospital Department of Endocrinology Austin Health Department of Medicine The University of Melbourne(Austin Health) Australian Centre for Accelerating Diabetes Innovations(ACADI) The Univ

Diabetes poses a considerable global health challenge, with varying levels of diabetes knowledge among healthcare professionals, highlighting the importance of diabetes training. Large Language Models(LLMs)provide new insights into diabetes training, but their performance in diabetes-related queries remains uncertain, especially outside the English language like Chinese. We first evaluated the performance of ten LLMs: Chat GPT-3.5, Chat GPT-4.0, Google Bard, Lla MA-7B, Lla MA2-7B, Baidu ERNIE Bot, Ali Tongyi Qianwen, Med GPT, Huatuo GPT, and Chinese Lla MA2-7B on diabetes-related queries, based on the Chinese National Certificate Examination for Primary Diabetes Care in China(NCE-CPDC) and the English Specialty Certificate Examination in Endocrinology and Diabetes of Membership of the Royal College of Physicians of the United Kingdom. Second, we assessed the training of primary care physicians(PCPs) without and with the assistance of Chat GPT-4.0 in the NCE-CPDC examination to ascertain the reliability of LLMs as medical assistants. We found that Chat GPT-4.0 outperformed other LLMs in the English examination, achieving a passing accuracy of 62.50%, which was significantly higher than that of Google Bard, Lla MA-7B, and Lla MA2-7B. For the NCE-CPFC examination, Chat GPT-4.0, Ali Tongyi Qianwen, Baidu ERNIE Bot, Google Bard, Med GPT, and Chat GPT-3.5 successfully passed, whereas Lla MA2-7B, Huatuo GPT,Chinese LLa MA2-7B, and Lla MA-7B failed. Chat GPT-4.0(84.82%) surpassed all PCPs and assisted most PCPs in the NCE-CPDC examination(improving by 1%–6.13%). In summary, LLMs demonstrated outstanding competence for diabetes-related questions in both the Chinese and English language, and hold great potential to assist future diabetes training for physicians globally.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive leader-follower formation control and obstacle avoidance via deep reinforcement learning

arXiv

引用

arXiv 2019年

作者： Zhou, Yanlin Lu, Fan Pu, George Ma, Xiyao Sun, Runhan Chen, Hsi-Yuan Li, Xiaolin Wu, Dapeng National Science Foundation Center for Big Learning Large-scale Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Florida GainesvilleFL United States Department of Mechanical and Aerospace Engineering University of Florida GainesvilleFL United States Amazon Robotics North Reading AI Institute Tongdun Technology

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train a DRL agent without sophisticated physics or 3D modeling. In addition, the modular framework averts daunting retrains of an image-to-action end-to-end neural network, and provides flexibility in transferring the controller to different robots. First, we train a convolutional neural network (CNN) to accurately localize in an indoor setting with dynamic foreground/background. Then, we design a new DRL algorithm named Momentum Policy Gradient (MPG) for continuous control tasks and prove its convergence. We also show that MPG is robust at tracking varying leader movements and can naturally be extended to problems of formation control. Leveraging reward shaping, features such as collision and obstacle avoidance can be easily integrated into a DRL controller. Copyright © 2019, The Authors. All rights reserved.

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

Towards smart radio environment for wireless communications via intelligent reflecting surfaces: A comprehensive survey

arXiv

引用

arXiv 2019年

作者： Gong, Shimin Lu, Xiao Hoang, Dinh Thai Niyato, Dusit Shu, Lei Kim, Dong In Liang, Ying-Chang School of Intelligent Systems Engineering Sun Yat-sen University China Department of Electrical and Computer Engineering University of Alberta Canada Faculty of Engineering and Information Technology University of Technology Sydney Australia School of Computer Science and Engineering Nanyang Technological University Singapore Singapore NAU-Lincoln Joint Research Center of Intelligent Engineering Nanjing Agricultural University China Department of Electrical and Computer Engineering Sungkyunkwan University Korea Republic of University of Electronic Science and Technology of China China

—This paper presents a comprehensive literature review on applications and design aspects of the intelligent reflecting surface (IRS) in the future wireless networks. Conventionally, the network optimization has been limited to transmission control at two endpoints, i.e., end users and network controller. The fading wireless channel is uncontrollable and becomes one of the main limiting factors for performance improvement. The IRS is composed of a large array of scattering elements, which can be individually configured to generate additional phase shifts to the signal reflections. Hence, it can actively control the signal propagation properties in favor of signal reception, and thus realize the notion of a smart radio environment. As such, the IRS’s phase control combined with the conventional transmission control can potentially bring performance gain compared to the conventional wireless networks without using the IRS. In this survey, we first introduce basic concepts of the IRS and the realizations of its reconfigurability. Then, we focus on applications of the IRS in wireless communications. We overview different performance metrics and analytical approaches to characterize the performance improvement of IRS-assisted wireless networks. To exploit the performance gain, we discuss the joint optimization of the IRS’s phase control and the transceivers’ transmission control in different network design problems, e.g., rate maximization and power minimization problems. Furthermore, we extend the discussion of IRS-assisted wireless networks to some emerging wireless applications. Finally, we highlight important practical challenges and future research directions of realizing IRS-assisted wireless communications in beyond 5G networks. Copyright © 2019, The Authors. All rights reserved.

关键词： Surveys

来源：评论

学校读者我要写书评

暂无评论

Publisher Correction: The ENCODE Imputation Challenge: a critical assessment of methods for cross-cell type imputation of epigenomic profiles

引用

Genome biology 2025年第1期26卷 31页

作者： Jacob Matthew Schreiber Carles A Boix Jin Wook Lee Hongyang Li Yuanfang Guan Chun-Chieh Chang Jen-Chien Chang Alex Hawkins-Hooker Bernhard Schölkopf Gabriele Schweikert Mateo Rojas Carulla Arif Canakoglu Francesco Guzzo Luca Nanni Marco Masseroli Mark James Carman Pietro Pinoli Chenyang Hong Kevin Y Yip Jefrey P Spence Sanjit Singh Batra Yun S Song Shaun Mahony Zheng Zhang Wuwei Tan Yang Shen Yuanfei Sun Minyi Shi Jessika Adrian Richard S Sandstrom Nina P Farrell Jessica M Halow Kristen Lee Lixia Jiang Xinqiong Yang Charles B Epstein J Seth Strattan Bradley E Bernstein Michael P Snyder Manolis Kellis William S Noble Anshul Bharat Kundaje Department of Genetics Stanford University Stanford CA USA. jmschreiber91@***. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA. Department of Genetics Stanford University Stanford CA USA. Department of Computational Medicine and Bioinformatics University of Michigan Ann Arbor MI USA. Department of Research and Development DeepSeq.AI San Francisco CA USA. RIKEN Center for Integrative Medical Sciences Yokohama Japan. Department of Empirical Inference Max Planck Institute for Intelligent Systems Stuttgart Germany. School of Life Sciences University of Dundee Dundee UK. Department of Electronics Information and Bioengineering Politecnico Di Milano Milan Italy. Department of Computational Biology University of Lausanne Lausanne Switzerland. Department of Computer Science and Engineering The Chinese University of Hong Kong Sha Tin Hong Kong. Sanford Burnham Prebys Medical Discovery Institute San Diego CA USA. Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA. Department of Statistics University of California Berkeley Berkeley CA USA. Department of Biochemistry & Molecular Biology Center for Eukaryotic Gene Regulation Pennsylvania State University University Park PA USA. Department of Statistics Pennsylvania State University University Park PA USA. Department of Electrical and Computer Engineering Texas A&M University College Station TX USA. Altius Institute Seattle WA USA. Epigenomics Program The Broad Institute of MIT and Harvard Cambridge MA USA. Department of Genome Sciences University of Washington Seattle WA USA. Department of Computer Science Stanford University Stanford CA USA.

来源：评论

学校读者我要写书评

暂无评论

Cost Optimal Control of Microgrids Having Solar Power and Energy Storage

Cost Optimal Control of Microgrids Having Solar Power and En...

引用

2018 IEEE/PES Transmission and Distribution Conference and Exposition, T and D 2018

作者： Gupta, Nikhil Francis, Griffin Ospina, Juan Newaz, Alvi Collins, Emmanuel G. Faruque, Omar Meeker, Rick Harper, Mario United States Center for Intelligent Systems Control and Robotics FAMU-FSU COE United States Department of Electrical and Computer Engineering FAMU-FSU COE United States Center for Advanced Power Systems FSU United States NHU Energy Inc. TallahasseeFL United States Department of Scientific Computing FSU United States

ISBN: (纸本)9781538655832

Solar power availability is intermittent and must be accompanied by an energy storage system (ESS) so that the effect of variability can be minimized. Hence, a strategy is needed to find the optimum combination of grid power, solar power, and power from the ESS so that the total cost of energy can be minimized. A solution to this problem is proposed here as Advanced Optimal Resource Allocation (AORA). This control scheme uses the prediction of Photovoltaic (PV) power availability, the real-time price of energy, and the levelized cost of energy for both PV and ESS to optimally combine the dispatch of power sources. Simulation results are presented for a 24 h prediction window and compared with a baseline power usage scheme that is based on a fixed charging and discharging schedule for the ESS. The comparison shows that AORA results in a substantial cost savings over the baseline scheme. © 2018 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

From multi-modal property dataset to robot-centric conceptual knowledge about household objects

arXiv

引用

arXiv 2019年

作者： Thosar, Madhura Mueller, Christian A. Jaeger, Georg Schleiss, Johannes Pulugu, Narender Chennaboina, Ravi Mallikarjun Jeevangekar, Sai Vivek Birk, Andreas Pfingsthorn, Max Zug, Sebastian Institute for Intelligent Cooperating Systems Faculty of Computer Science Otto-von-Guericke University Magdeburg Germany Robotics Computer Science & Electrical Engineering Department Jacobs University Bremen Germany Institute for Computer Science Technische Universität Bergakademie Freiberg Germany OFFIS Institute for Information Technology Oldenburg Germany

Tool-use applications in robotics require conceptual knowledge about objects for informed decision making and object interactions. State-of-the-art methods employ hand-crafted symbolic knowledge which is defined from a human perspective and grounded into sensory data afterwards. However, due to different sensing and acting capabilities of robots, their conceptual understanding of objects must be generated from a robot's perspective entirely, which asks for robot-centric conceptual knowledge about objects. With this goal in mind, this article motivates that such knowledge should be based on physical and functional properties of objects. Consequently, a selection of ten properties is defined and corresponding extraction methods are proposed. This multi-modal property extraction forms the basis on which our second contribution, a robot-centric knowledge generation is build on. It employs unsupervised clustering methods to transform numerical property data into symbols, and Bivariate Joint Frequency Distributions and Sample Proportion to generate conceptual knowledge about objects using the robot-centric symbols. A preliminary implementation of the proposed framework is employed to acquire a dataset comprising physical and functional property data of 110 houshold objects. This Robot-Centric dataSet (RoCS) is used to evaluate the framework regarding the property extraction methods, the semantics of the considered properties within the dataset and its usefulness in real-world applications such as tool substitution. Copyright © 2019, The Authors. All rights reserved.

关键词： Decision making

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：