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Molecular resolution imaging reveals step-wise reduction of axonemal diameter and ultrastructural architecture of intraflagellar transport proteins

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Biophysical journal 2023年第3S1期122卷 131a页

作者： Teng Cheok, Man Xun, Jiabin Yang, Tony Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei City Taiwan Department of Electrical Engineering National Taiwan University Taipei City Taiwan

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Development and Functional Evaluation of The PrHand V3 Soft-Robotics Prosthetic Hand

Development and Functional Evaluation of The PrHand V3 Soft-...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Orion Ramos Laura De Arco Marcela Múnera Jorge Robledo Mehran Moazen Helge Wurdemann Carlos A. Cifuentes School of Engineering Science and Technology Universidad del Rosario Bogota Colombia Graduate Program of Electrical Engineering Federal University of Espírito Santo Vitoria Brazil Bristol Robotics Laboratory University of the West of England Bristol UK Colombian School of Engineering Bogotá D.C. Colombia Prótesis Avanzadas SAS Medellin Colombia Department of Mechanical Engineering University College London London UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The affordability and functionality of hand prosthetics in developing countries are still very limited. This work aims to present and evaluate the new version of the PrHand affordable robotic prosthesis (PrHand V3), built with soft robotics and compliant mechanisms. PrHand V3 implements a new frictionless tendon unification system, the degree of freedom of thumb opposition was removed, and the finger flexion was improved to the previous version, PrHand V2. The study contributes by evaluating these mechanical changes and conducting the first functional assessment of PrHand V3 with an amputee user. The Anthropomorphic Hand Assessment Protocol (AHAP) dexterity test was the first evaluation in this work; it evaluated how the prosthesis performs eight different grips. PrHand V3 was compared with a PrHand V2 and a commercial robotic prosthesis A3D from Prótesis Avanzadas SAS. PrHand V3’s score on the AHAP test was 80%. This result is higher than the 69% obtained by the PrHand V2 and the 79% obtained by A3D. The Activities Measure for Upper Limb Amputees (AM-ULA) test was the second evaluation in this work; An A3D amputee user performed 23 Activities of Daily Living with PrHand V3 and an A3D. PrHand V3 obtained an average of 2.86/4 and A3D obtained an average of 2.96/4 without significant differences between the two tests. The soft actuation of PrHand V3 as an affordable prosthesis performs similarly to a commercial robotic prosthesis with the advantage of being more flexible to assist a trans-radial hand amputee.

关键词： Hands Protocols Manufacturing processes Thumb Grasping Soft robotics Synthetic aperture sonar Prosthetic hand Prosthetics Tendons

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Wearable Active Vibration Sensing for Mid-Activity Knee Health Assessment

Wearable Active Vibration Sensing for Mid-Activity Knee Heal...

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International Workshop on Wearable and Implantable Body Sensor Networks (BSN)

作者： Goktug C. Ozmen Christopher J. Nichols Lan Lan Emily Moise Christopher Sugino Alper Erturk Omer T. Inan School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA BioEngineering Graduate Program Georgia Institute of Technology Atlanta GA USA Coulter Department of Biomedical Engineering Georgia Institute of Technology Atlanta GA USA George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA Coulter Department of Biomedical Engineering School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Non-invasive vibration measurements from the knee offer a convenient and affordable alternative to benchtop or biomechanics lab joint health monitoring systems. Recently, joint acoustic emissions (JAEs) measured from the knee were shown to be an indicator of knee health. However, the origin of JAEs is still not fully understood, which limits its acceptance and use by clinical experts. In this proof-of-concept study, rather than relying on the movements of the knee and corresponding frictional rubbing of internal surfaces to produce vibrations, we propose using an active vibration sensing approach with a known vibration source interrogating the knee. We aim to elucidate the linkage between knee vibration characteristics and structural changes in the joint following injuries. We measured tibial vibration responses of two participants using a laser vibrometer system to quantify the frequency band where the most repeatable tibial vibration measurement can be taken. Subsequently, a custom-designed wearable system measured mid-activity tibial vibration characteristics from four participants (five healthy knees and three knees with prior acute injury) during unloaded knee flexion-extensions. An active sensing knee health score was defined as the ratio of the changes in low- to high-frequency response during flexion-extension. Since changes in the boundary of tibia would alter low-frequency response more than high frequency response, we found that increased knee laxity with acute injuries resulted in an increased active sensing knee health score. Our findings demonstrate the potential of active vibration sensing as an interpretable, computationally inexpensive alternative to JAEs for wearable knee health assessment.

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Quality Improvements in the electrical Design of Typical DC-DC Electronic Power Converter for High-Voltage Applications

Quality Improvements in the Electrical Design of Typical DC-...

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International Conference on engineering and Emerging Technologies (ICEET)

作者： King Harold A. Recto Miguel T. Escoto Noel B. Hernandez Department of Electronics Computer and Communications Engineering Ateneo de Manila University Quezon City Philippines Electrical and Electronics Engineering Institute University of the Philippines Diliman Quezon City Philippines Post-doctoral Program in Quality Management of the Graduate School Centro Escolar University Manila Philippines

ISBN: (纸本)9781665491075

The green transition has brought about a worldwide-shift to the use of renewables as alternative energy sources. Because of this, high voltage DC has been a field of interest in power electronics due to its capability in efficiently transmitting power to reach remote areas. Typical DC-DC electronic power converter design has the capability of boosting voltage level to a certain extent but not enough for high-voltage applications. Using the DMAIC Approach of the Six Sigma, quality improvements in the design was proposed to stabilize operating frequency, bring up the output voltage from 100 VDC to 4,000 VDC and provide at least 10% margin of error in the apparent power measured at the output side to offset inherent losses in the electrical design. These proposed quality improvements were sustained by designing a control circuit that would ensure the attainment of the parameters set in the Define Phase of the DMAIC Approach. The result of the study is a practical 12 VDC to 4,000 VDC boost converter design that has incorporated all the proposed quality improvements.

关键词： Renewable energy sources Voltage measurement Power measurement Measurement uncertainty Green products High-voltage techniques Loss measurement

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Computation of the Largest Lyapunov Exponent Using SPICE-Like programs

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IFAC-PapersOnLine 2024年第5期58卷 1-6页

作者： Lucas G. Nardo Thalita E. Nazaré Erivelton Nepomuceno Janier Arias-Garcia Denis N. Butusov Graduate Program in Electrical Engineering Universidade Federal de Minas Gerais Belo Horizonte MG 31270-901 Brazil Center for Ocean Energy Research Department of Electronic Engineering Maynooth University Maynooth Co. Kildare W23 F2H6 Ireland Youth Research Institute Saint Petersburg Electrotechnical University “LETI” Saint Petersburg 197022 Russia

This paper presents a novel method for calculating the positive largest Lyapunov exponent (LLE) using only SPICE-like programs. The LLE is a measure of the rate of divergence of nearby trajectories in phase space and is an important indicator of chaotic behavior. The proposed method calculates the LLE directly from systems represented in schematic circuits, inspired by interval extensions that exploit divergent trajectories to calculate the lower-bound error. The exponent is obtained from the slope of the line derived from the lower-bound error, using a differential amplifier to quantify it, along with a straightforward linear fit to the logarithm of the divergence of two circuits’ trajectories. This approach is unique as it requires only user skills in SPICE-like programs, unlike most other approaches, providing a simple, efficient, and accurate way to analyze and characterize chaotic dynamics. Results demonstrate that the suggested method successfully estimated the LLE for two well-known systems.

关键词： Chaos chaotic analog circuits computer arithmetic interval arithmetic largest Lyapunov exponent SPICE simulation

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D-SRGAN: DEM Super-Resolution with Generative Adversarial Networks

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SN Computer Science 2021年第1期2卷 48页

作者： Demiray, Bekir Z. Sit, Muhammed Demir, Ibrahim Department of Computer Science University of Iowa Iowa City United States Interdisciplinary Graduate Program in Informatics University of Iowa Iowa City United States Department of Civil and Environmental Engineering University of Iowa Iowa City United States Department of Electrical and Computer Engineering University of Iowa Iowa City United States

Digital elevation model (DEM) is a critical data source for variety of applications such as road extraction, hydrological modeling, flood mapping, and many geospatial studies. The usage of high-resolution DEMs as inputs in many application areas improves the overall reliability and accuracy of the raw dataset. The goal of this study is to develop a machine learning model that increases the spatial resolution of DEM without additional information. In this paper, a GAN based model (D-SRGAN), inspired by single image super-resolution methods, is developed and evaluated to increase the resolution of DEMs. The experiment results show that D-SRGAN produces promising results while constructing 3 feet high-resolution DEMs from 50 feet low-resolution DEMs. It outperforms common statistical interpolation methods and neural network *** study shows that it is possible to use the power of artificial neural networks to increase the resolution of the DEMs. The study also demonstrates that approaches from single image super-resolution can be applied for DEM super-resolution. © 2021, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd. part of Springer Nature.

关键词： Deep learning DEM DEM reconstruction Generative adversarial networks (GANs) Super-resolution

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Condition Assessment of Underground Cable System Using Fuzzy Logic and Scoring and Weighting Average Methods

Condition Assessment of Underground Cable System Using Fuzzy...

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Conference on Power, Energy and Innovations (ICPEI)

作者： Dineenath Romphoyen Nattapon Panmala Thanapong Suwanasri Cattareeya Suwanasri EPE Program The Sirindhorn International Thai-German Graduate School of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Department of Teacher Training in Electrical Engineering Faculty of Technical Education King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Department of Electrical and Computer Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

In this paper, the overall health index of underground cable system is determined using Fuzzy Logic and Scoring and Weighting Average methods. The relevant data of 73 feeders has been collected in the prepared evaluation forms, divided into five major component groups: cable, joint, termination, manhole, and ductbank. In each component, various testing methods and diagnostic techniques are applied, and then the numerical score is determined according to the technical criteria for condition assessment. Subsequently, the obtained overall health index is multiplied with the conditional factor to incorporate the differences in installation type and configuration as well as the operating and environmental conditions. Finally, the overall health index based on these two methods is compared to verify the accuracy of the obtained results to properly plan the preventive and condition-based maintenance and to improve the reliability of the underground cable system.

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Deep Reinforcement Learning for Mapless Robot Navigation Systems

Deep Reinforcement Learning for Mapless Robot Navigation Sys...

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IEEE Latin American Robotics Symposium, LARS

作者： Iure Rosa L. Oliveira Alexandre S. Brandão Department of Electrical Engineering Graduate Program in Computer Science Núcleo de Especialização em Robótica (NERo) Universidade Federal de Viçosa Viçosa MG Brazil

DRL has emerged as a promising approach for mobile robot navigation in unknown environments without a prior map. However, the performance of DRL methods for this task varies greatly, depending on the choice of algorithm, state representation, and training procedure. In this paper we explore various cutting-edge DRL algorithms, such as policy-, value-, and actor-critic-based approaches. Our results demonstrate the effectiveness of the ranging sensor approach, which achieves robust navigation policies capable of generalizing to unseen virtual environments with a high success rate. We combine Behavior Cloning with Imitation Learning to expedite the training process, leveraging expert demonstrations and reinforcement learning. Our methodology enables faster training while enhancing the learning efficiency and performance of the robot, obtaining better results in terms of crash and success rate, and being able to reach a cumulative reward of approximately 12000.

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Q-Learning based Local Path Planning for UAVs with Different Priorities

Q-Learning based Local Path Planning for UAVs with Different...

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IEEE Latin American Robotics Symposium, LARS

作者： Kevin B. de Carvalho O. B. Hiago Batista Leonardo A. Fagundes-Júnior Alexandre S. Brandão Department of Electrical Engineering Graduate Program in Computer Science Núcleo de Especialização em Robótica (NERo) Universidade Federal de Viçosa Viçosa MG Brazil

Path planning is a crucial component of autonomous navigation and frequently demands different priorities such as path length, safety, or energy consumption, with the latter being particularly important in the context of unmanned autonomous vehicles. In many applications, the agent may have to react to environment shifting. Algorithms such as geometric and dynamic programming as well as techniques such as artificial potential fields have been employed to tackle this local planning problem. In recent years, machine learning has gained more evidence in many research fields due to its flexibility and generalization capabilities. In this study, we propose a Q-learning-based approach to local planning, which weighs three crucial factors- path length, safety, and energy consumption- that can be freely adjusted by the user to suit its application’s needs. The performance of the proposed method was tested in simulated static and dynamic scenarios as well as benchmarked with a baseline approach. The results show that it can perform well in both kinds of environments without struggling with the commom pitfalls of other local planning algorithms.

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Performance of Predictive Control Applied to Active Power Filter

Performance of Predictive Control Applied to Active Power Fi...

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Annual IEEE Conference on Applied Power electronics Conference and Exposition (APEC)

作者： Juan Pereira Silva Jefferson Rafael Pereira De Assis Darlan Alexandria Fernandes Nady Rocha Alfeu J. Sguarezi Filho Graduate Program in Electrical Engineering (PPGEE) Federal University of Paraíba Joäo Pessoa / SENAI Amapá Brazil Department of Electrical Engineering Federal University of Campina Grande Campina Grande Brazil Department of Electrical Engineering Federal University of Paraíba João Pessoa Brazil Center for Eng. Model. and Appl. Soc. Sciences Federal University of ABC Santo André SP Brazil

This work presents different techniques for calculating predictors for the application of predictive control as a regulator system of an active power filter (APF), which supplies distorted current grid. From that, some performance criteria are analyzed for each presented method. Four discretization techniques were used: Euler's Backward, Trapezoidal, Centered Form, and TSA (two-step ahead). The APF has the function of eliminating the current harmonic components present in the electrical grid by injecting currents, thus mitigating distortions in the grid and improving the power factor of the installation. The mathematical modeling, discretization, and the development of predictive control algorithm are discussed and presented in simulation using the Simulink/MATLAB platform. The validation of the system was presented and carried out through real-time simulations in the OP5700 simulator from OPAL-RT Technologies.

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