检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Deep Reinforcement Learning for Mapless Robot Navigation Systems

Deep Reinforcement Learning for Mapless Robot Navigation Sys...

引用

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

Condition Assessment of Underground Cable System Using Fuzzy...

引用

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Performance of Predictive Control Applied to Active Power Filter

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

引用

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Two-Dimensional Solitons in Second-Harmonic-Generating Media with Fractional Diffraction

SSRN

引用

SSRN 2024年

作者： Sakaguchi, Hidetsugu Malomed, Boris A. Interdisciplinary Graduate School of Engineering Sciences Kyushu University Fukuoka Kasuga816-8580 Japan Department of Physical Electronics School of Electrical Engineering Faculty of Engineering Center for Light-Matter Interaction Tel Aviv University Tel Aviv69978 Israel Instituto de Alta Investigación Universidad de Tarapacá Casilla 7D Arica Chile

We introduce a system of propagation equations for the fundamental-frequency(FF) and \ second-harmonic (SH) waves in the bulk waveguide with theeffective fractional diffraction and quadratic *** numerical solution produces families of ground-state (zero-vorticity)two-dimensional solitons in the free space, which are stable in exactagreement with the Vakhitov-Kolokolov criterion, while vortex solitons arecompletely unstable in that case. Mobility of the stable solitons andinelastic collisions between them are briefly considered too. In thepresence of a harmonic-oscillator (HO) trapping potential, families ofpartially stable single- and two-color solitons (SH-only or FF-SH ones,respectively) are obtained, with zero and nonzero vorticities. The single-and two-color solitons are linked by a bifurcation which takes place withthe increase of the soliton's power. © 2024, The Authors. All rights reserved.

关键词： Harmonic generation

来源：评论

学校读者我要写书评

暂无评论

Physics-based learned design for Fourier DiffuserScope

Physics-based learned design for Fourier DiffuserScope

引用

Computational Optical Sensing and Imaging, COSI 2021 - Part of OSA Imaging and Applied Optics Congress 2021

作者： Markley, Eric Liu, Fanglin Linda Kellman, Michael Antipa, Nick Waller, Laura UCB/UCSF Joint Graduate Program in Bioengineering University of California Berkeley United States Department of Electrical Engineering and Computer Sciences University of California Berkeley United States Department of Pharmaceutical Chemistry University of California San Francisco United States Department of Electrical and Computer Engineering University of California San Diego United States

We couple a differentiable forward model of diffuser-based single-shot 3D microscopy (Fourier DiffuserScope) with an invertible and differentiable reconstruction algorithm to jointly optimize the imaging system and th... 详细信息

ISBN: (纸本)9781557528209

关键词： Imaging systems

来源：评论

学校读者我要写书评

暂无评论

Investigation of Lightning Overvoltage on 220 kV Transmission Lines in Bhutan Using ATP-EMTP

Investigation of Lightning Overvoltage on 220 kV Transmissio...

引用

Conference on Power, Energy and Innovations (ICPEI)

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

This paper provides an examination of the impact of lightning strikes on a 220 kV double circuit (D/C) high voltage transmission line in Bhutan. The study employs the ATP-EMTP software to identify the leading causes of transmission line faults, which are primarily attributed to lightning strikes. Since the transmission lines run through areas in Bhutan that are prone to severe weather conditions and lightning strikes, they are vulnerable to damage, leading to an unreliable power supply. To address this issue, the author proposes several solutions, such as enhancing the tower footing resistance and installing line surge arresters. The author also created models of different transmission towers and analyzed an 18 km stretch of the transmission line that is highly susceptible to lightning strikes.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Rotating nonlinear states in trapped binary Bose-Einstein condensates under the action of the spin-orbit coupling

arXiv

引用

arXiv 2024年

We report results of systematic analysis of confined steadily rotating patterns in the two-component BEC including the spin-orbit coupling (SOC) of the Rashba type, which acts in the interplay with the attractive or repulsive intra-component and inter-component nonlinear interactions and confining potential. The analysis is based on the system of the Gross-Pitaevskii equations (GPEs) written in the rotating coordinates. The resulting GPE system includes effective Zeeman splitting. In the case of the attractive nonlinearity, the analysis, performed by means of the imaginary-time simulations, produces deformation of the known two-dimensional SOC solitons (semi-vortices and mixed-modes). Essentially novel findings are reported in the case of the repulsive nonlinearity. They demonstrate patterns arranged as chains of unitary vortices which, at smaller values of the rotation velocity Ω, assume the straight (single-string) form. At larger Ω, the straight chains become unstable, being spontaneously replaced by a trilete star-shaped array of vortices. At still large values of Ω, the trilete pattern rebuilds itself into a star-shaped one formed of five and, then, seven strings. The transitions between the different patterns are accounted for by comparison of their energy. It is shown that the straight chains of vortices, which form the star-shaped structures, are aligned with boundaries between domains populated by plane waves with different wave vectors. A transition from an axisymmetric higher-order (multiple) vortex state to the trilete pattern is investigated too. © 2024, CC BY.

关键词： Solitons

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：