We address a state-of-the-art reinforcement learning(RL)control approach to automatically configure robotic pros-thesis impedance parameters to enable end-to-end,continuous locomotion intended for transfemoral amputee...
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We address a state-of-the-art reinforcement learning(RL)control approach to automatically configure robotic pros-thesis impedance parameters to enable end-to-end,continuous locomotion intended for transfemoral amputee ***,our actor-critic based RL provides tracking control of a robotic knee prosthesis to mimic the intact knee *** is a significant advance from our previous RL based automatic tuning of prosthesis control parameters which have centered on regulation control with a designer prescribed robotic knee profile as the *** addition to presenting the tracking control algorithm based on direct heuristic dynamic programming(dHDP),we provide a control performance guarantee including the case of constrained *** show that our proposed tracking control possesses several important properties,such as weight convergence of the learning networks,Bellman(sub)optimality of the cost-to-go value function and control input,and practical stability of the human-robot *** further provide a systematic simulation of the proposed tracking control using a realistic human-robot system simulator,the OpenSim,to emulate how the dHDP enables level ground walking,walking on different terrains and at different *** results show that our proposed dHDP based tracking control is not only theoretically suitable,but also practically useful.
This study introduced a capacitive sensing interactive game platform aimed at promoting emotional stability, which we have named the 'Sunrise and Sunset' game. This game primarily consists of two pieces of reg...
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Cone-Beam Computed Tomography (CBCT) provides superior image quality in dentistry, but involves higher radiation exposure. To address this, lower radiation levels in CBCT imaging are used, resulting in higher noise le...
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Modern industrial pollution requires proactive measures to mitigate its environmental effects. This paper advances eco-friendly production forecasting using IoT and Logistic Regression (LR). Optimizing output, reducin...
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This mini review provides a thorough examination of recent advances in finite element analysis (FEA) for cancer therapy, with a focus on magnetic nanoparticle (MNP) hyperthermia. The paper begins by discussing the fun...
This mini review provides a thorough examination of recent advances in finite element analysis (FEA) for cancer therapy, with a focus on magnetic nanoparticle (MNP) hyperthermia. The paper begins by discussing the fundamental principles of FEA and their applications in biomedical sciences. It then describes the application of FEA to the in vitro and in vivo modeling of MNP hyperthermia, including the development and validation of computational models that simulate magnetic nanoparticles behavior under alternating magnetic field (AMF), heat generation, its transfer, and cellular/tissue responses. The review further explores the emerging trends and future directions in the application of FEA for MNP hyperthermia, including the integration of experimental data, incorporation of patient-specific parameters, and optimization of treatment protocols. The paper also discusses the key challenges and limitations of current FEA models, shedding light on potential areas for future research and development. By synthesizing the most recent advances in this field, the review aims to provide a valuable resource for researchers, clinicians, and engineers working on the optimization and clinical translation of MNP hyperthermia for effective cancer therapy.
This paper investigates the selection of the optimal number of modules in an Input-Series-Output-Parallel (ISOP) LLC resonant DC-DC converter for motorsport applications. The study employs a Genetic Algorithm (GA) mul...
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Obstructive sleep apnea (OSA) has become more common in recent days due to overweight, obesity, stress, and depression. It is a serious disorder where the patient's breathing repeatedly stops and starts. It is lin...
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Quantifying temporal intensity fluctuations is crucial yet challenging in many biomedical applications, e.g., assessing blood flow, tissue perfusion, and particle sizing. These fluctuations arise from dynamic scatteri...
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This paper introduces a dynamic current comparator employing a parasitic charge recycling technique to achieve an ultra-low energy per comparison of 175 fJ. Furthermore, incorporating a switched capacitor supply in th...
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ISBN:
(数字)9798350356830
ISBN:
(纸本)9798350356847
This paper introduces a dynamic current comparator employing a parasitic charge recycling technique to achieve an ultra-low energy per comparison of 175 fJ. Furthermore, incorporating a switched capacitor supply in the static portion of the circuit, the comparison energy is further reduced to 55 fJ, more than three times lower. The proposed circuit, designed and extensively simulated in a 130-nm CMOS process with thick gate MOS transistors, demonstrates a comparison time of 3.8 ns, with a 100-nA input difference and a 32-MHz clock, while offering an input-referred noise of 2.9 nA rms . These features make the proposed comparator highly suitable for medium-to high-resolution data conversion systems, particularly in biomedical and sensor-readout applications. Additionally, it is well-suited for high-speed and cryogenic CMOS systems, where current-mode architectures are becoming increasingly relevant.
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