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Direct Teaching/Playback Method for the Contact Task of a Six-DOF Manipulator Using a Parallel-Wire-Type Teaching Device with a Remote Center Compliance Device

Direct Teaching/Playback Method for the Contact Task of a Si...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Tatsuya Okochi Masao Sakai Yoshifumi Morita Department of Engineering Electrical and Mechanical Engineering Program Graduate School of Engineering Nagoya Institute of Technology Nagoya Aichi Japan Industrial Research Center Aichi Center for Industry and Science Technology Kariya-shi Aichi Japan Department of Electrical and Mechanical Engineering Nagoya Institute of Technology Nagoya Aichi Japan

This study proposes a direct teaching method for the task of pressing an end effector attached to a robot manipulator against a workpiece with a constant force. When performing contact tasks, such as deburring or polishing using a manipulator, a passive compliance is required for the end effector to suppress excessive contact force and impact. Therefore, we developed an end effector that combines a “parallel wire-type teaching device,” which enables direct teaching, and a compliance device. In the case of pressing a workpiece with a constant force, after teaching the robot's trajectory to trace the edge of the workpiece, the amount of pressing can be calculated from the stiffness of the end effector and the desired pressing force; the robot's trajectory can be edited to teach contact tasks. An experiment was conducted to press a straight trajectory with a constant force as the target value and evaluate the accuracy of force teaching.

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Wideband Beamforming for Frequency Selective RRS Aided Near-Field Communications

Wideband Beamforming for Frequency Selective RRS Aided Near-...

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2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Lin, Zicheng Zeng, Shuhao Zhang, Hongliang School of Electronic Engineering and Computer Science Peking University Beijing China Princeton University Department of Electrical and Computer Engineering NJ United States School of Electronic and Computer Engineering Peking University Shenzhen Graduate School China School of Electronics Peking University Beijing China

ISBN: (纸本)9798350368369

To satisfy the high data rate requirements, cellular systems will evolve towards the direction of higher carrier frequencies and larger antenna arrays. The conventional phased arrays are hard to fulfill such a vision due to its excessive power consumption induced by numerous phase shifters. To address this issue, Reconfigurable Refractive Surfaces (RRSs) provide a energy efficient solution without relying on phase shifters. With enlarged radiation aperture and increased working frequency, users are more likely to be located in the near field of the RRS. Moreover, the frequency selectivity of the RRS cannot be neglected given the wideband communications enabled by higher frequency bands. These two effects jointly aggravate the beam split problem where the signal strength of different frequency components cannot concentrate on the user, leading to a data rate degradation. In this paper, we study an RRS-based wideband near-field communication system with multiple users. Unlike most existing works, which only considered the beam split effect under near-field conditions, we jointly consider the influence of the frequency selectivity of RRS and near-field conditions on the beam split effect. To mitigate the beam split effect, the time-delay units are introduced in the RRS elements based on which a beamforming scheme is proposed to improve system data rate by jointly optimizing the digital beamformer, the phase shifts of RRS and the time-delay units. Simulation results demonstrate the effectiveness of our proposed scheme. © 2025 IEEE.

关键词： Antenna phased arrays

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Scaled nonlinear H control of an aerial manipulator

Scaled nonlinear H control of an aerial manipulator

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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

作者： De Morais, Junio Eduardo Raffo, Guilherme V. Federal University of Minas Gerais Graduate Program in Electrical Engineering Belo Horizonte Brazil Federal University of Minas Gerais Department of Electronic Engineering Belo Horizonte Brazil

ISBN: (纸本)9780738131153

This paper proposes a scaled nonlinear H control of an Unmanned Aerial Manipulator (UAM) from the perspective of the end-effector. The equations of motion of the UAM, obtained from the Euler-Lagrange approach, describe the end-effector dynamical behavior, taking into account the multi-body mechanical system composed by a quadrotor UAV and a planar manipulator. Then, a single-layer control strategy is designed in order to directly control the pose of the end-effector. Aiming to improve the inertia matrix conditioning, the UAM dynamic model is scaled to be used into the proposed nonlinear H controller, which is implemented in an embedded system. Finally, a numerical experiment is executed in a Hardware-In-the-Loop framework using the ProVANT Simulator software, corroborating the good performance of the proposed controller. © 2021 IEEE.

关键词： Antennas

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Uncertainty Quantification Using Subsampling for Assembly-Free Estimates of Genomic Distance and Phylogenetic Relationships 26th

Uncertainty Quantification Using Subsampling for Assembly-F...

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26th International Conference on Research in Computational Molecular Biology, RECOMB 2022

作者： Rachtman, Eleonora Sarmashghi, Shahab Bafna, Vineet Mirarab, Siavash Bioinformatics and Systems Biology Graduate Program UC San Diego La JollaCA United States Department of Electrical and Computer Engineering UC San Diego La JollaCA United States Department of Computer Science and Engineering UC San Diego La JollaCA United States

Computing the distance between two genomes, often without using alignments or even access to assembled sequences, is fundamental to many downstream analyses. © 2022, The Author(s), under exclusive license to Spri... 详细信息

ISBN: (纸本)9783031047480

关键词： Uncertainty analysis

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Is Attention All You Need for EEG to Predict Neurological Outcomes in Cardiac Arrest?

Is Attention All You Need for EEG to Predict Neurological Ou...

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2024 IEEE-EMBS International Conference on Biomedical and Health Informatics, BHI 2024

作者： Dionisio, Jefferson Rizwan, Muhammad Suzuki, Hidetaka Hassan, Kazi Mahmudul Chanpornpakdi, Ingon Lin, Lian-Yu Tanaka, Toshihisa Lin, Che Tokyo University of Agriculture and Technology Tokyo Japan Japanese Red Cross Musashino Hospital Department of Emergency and Critical Care Tokyo Japan National Taiwan University College of Medicine and Hospital Division of Cardiology Department of Internal Medicine Taipei Taiwan Artificial Intelligence of Things Taiwan International Graduate Program Academia Sinica Taipei Taiwan National Taiwan University Department of Electrical Engineering Taipei Taiwan Graduate Institute of Communication Engineering National Taiwan University Taipei Taiwan National Taiwan University Center for Advanced Computing and Imaging in Biomedicine Taipei Taiwan Department of Smart Medicine and Health Informatics National Taiwan University Taipei Taiwan

ISBN: (纸本)9798350351552

Sudden cardiac arrest (SCA) poses a significant health challenge, necessitating accurate predictions of neurological outcomes in comatose patients, where good outcomes are defined as the recovery of most cognitive functions. Electroencephalogram (EEG) serves as a valuable biomarker for monitoring neurological states due to its rich, time-dependent information. This study aims to predict neurological outcomes using early EEG data by employing the Transformer model, which leverages multi-headed attention to identify patterns in lengthy sequences such as hour-long EEG recordings. Unlike traditional methods that use subsampled EEG epochs, we utilize the entire EEG sequences, subdivided into time steps, allowing our model to capture detailed temporal patterns via the attention mechanism. Moreover, we trained our proposed model using each EEG recording as an individual data sample but evaluated our model through aggregated patient-wise predictions. This approach allows us to boost the data sample size. Our results demonstrate promising predictive performance, achieving an AUROC of 0.82 and AUPRC of 0.90 on the holdout test set and an AUROC of 0.73 and AUPRC of 0.93 on an external test set with patient-wise predictions. This study highlights the potential of utilizing attention mechanisms to capture important time series progressions across EEG sequences for improving SCA prognosis. © 2024 IEEE.

关键词： Electroencephalography

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Leader-Follower UGV-UAV Formation as Control Paradigm for Package Delivery

Leader-Follower UGV-UAV Formation as Control Paradigm for Pa...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Viní cius Pacheco Bacheti Alexandre Santos Brandã o Má rio Sarcinelli-Filho Graduate Program on Electrical Engineering Federal University of Esp&#x00ED rito Santo Brazil Department of Electrical Engineering Federal University of Vi&#x00E7 osa Brazil

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

This paper addresses the problem of package delivery by a drone taking off of a ground vehicle, flying towards a desired delivery point and flying back to land on the ground vehicle. Specifically, the final step, when the drone approaches the ground vehicle and lands on it is dealt with here. To do that a ground mobile robot, a Pioneer 3-DX unicycle platform, is used to play the role of the delivery truck, whereas the drone is the Bebop 2 quadrotor. To control such a formation the leader-follower control paradigm is adopted, in which the Pioneer 3-DX is the leader and the quadrotor is the follower, which mimics the movement of the leader. According to such a control paradigm, the two vehicles are independently controlled. A first controller is responsible for the leader and a second one is responsible for the follower. Aiming at a package delivery application, the leader robot is programmed to follow a given path, thus playing the role of a delivery truck, whereas a trajectory-tracking controller is designed for the follower, having the leader as the trajectory to be tracked. Therefore, the leader-follower control paradigm fits quite well the application in mind, which is the reason for this proposal. Simulation results considering such a system are presented here, which validate the proposed approach.

关键词： Simulation MIMICs Autonomous aerial vehicles Land vehicles Trajectory Proposals Mobile robots

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Sequence design and user activity detection for uplink grant-free NOMA in mMTC networks

IEEE Open Journal of the Communications Society

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IEEE Open Journal of the Communications Society 2021年 2卷 384-395页

作者： Huang, Nai-Hsuan Chiueh, Tzi-Dar Graduate Institute of Electronics Engineering National Taiwan University Taipei10617 Taiwan Wireless Communications Technology Mediatek Inc. Hsinchu30078 Taiwan Department of Electrical Engineering National Taiwan University Taipei10617 Taiwan

Massive machine type communications (mMTC) is one of the three major scenarios in 5G wireless networks. mMTC is an uplink-dominant scenario that supports massive connectivity of small-size packets and sporadic traffic. To meet the requirement of mMTC, non-orthogonal multiple access (NOMA) with grant-free transmission is considered a promising technology because of its higher spectrum efficiency and lower signaling overhead. Request-and-grant-based scheduling process is eliminated in grant-free transmission and thus the base stations need to identify active users first before data detection. Previously, several user activity detection (UAD) algorithms were proposed and they can obtain good performance in flat-fading channels. However, the performance of these works degrades significantly in doubly selective fading channels. In this work, we propose an effective solution for uplink grant-free NOMA with a new user sequence scheme and a novel UAD algorithm suitable for practical channel scenarios. Simulation results validated that the proposed sequences can mitigate the inter-user interference at the base stations, and the proposed UAD algorithm can achieve better detection accuracy. Moreover, detailed complexity analysis showed that the proposed UAD algorithm has relatively low complexity and good scalability. © 2020 IEEE.

关键词： Base stations

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Experimental Evaluation of a Lightweight and Backdrivable Powered Knee Prosthesis for Transfemoral Amputees

Experimental Evaluation of a Lightweight and Backdrivable Po...

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Colombian Caribbean Conference (C3), IEEE

作者： Pedro Ulhoa Guilherme Fiorezi Teodiano Filho Rafhael Andrade Department of Electrical Engineering Universidade Federal do Espírito Santo Vitória Brazil Department of Mechanical Engineering Universidade Federal do Espírito Santo Vitória Brazil Graduate Program in Electrical Engineering Universidade Federal do Espírito Santo Vitória Brazil Graduate Program in Mechanical Engineering Universidade Federal do Espírito Santo Vitória Brazil

Rehabilitation of amputees is still mostly limited to passive technology that cannot provide energy to the gait and contribute to a better experience and comfort of walking. To address this shortcoming, active prostheses have been introduced with actuators capable of generating and dissipating energy in a controlled way. However, proposed designs of powered leg prosthesis still present heavy and bulky structure or low backdrivable actuators, which reduce the volitional control and comfort of the user. This work presents the development and control of a lightweight and highly backdrivable powered knee prosthesis. The designed actuator is composed by a coaxial motor-reducer with a 200 W brushless DC motor in series with a harmonic drive with a 51:1 ratio. After assembled the leg prosthesis weights just 3.64 kg. Bench tests were performed to validate the model and tune a position-based controller. Then, a custom force sensor was implemented to measure ground reaction force and identify gait phases so an impedance controller can regulate joint torque. The powered prosthesis was experimented in three able-bodied subjects walking on a treadmill using both the position and impedance controller. The prosthesis presented high backdrivability in bench tests and the treadmill results shown that the proposed impedance controller was more effective to follow the healthy knee trajectory compared to the position controller. In future works we plan to evaluate the prosthesis in amputee subjects.

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Endurance > 1011Cycling of 3D GAA Nanosheet Ferroelectric FET with Stacked HfZrO2to Homogenize Corner Field Toward Mitigate Dead Zone for High-Density eNVM

Endurance > 1011Cycling of 3D GAA Nanosheet Ferroelectric FE...

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2022 IEEE Symposium on VLSI Technology and Circuits, VLSI Technology and Circuits 2022

作者： Liao, C.-Y. Hsiang, K.-Y. Lou, Z. -F. Tseng, H.-C. Lin, C.-Y. Li, Z.-X. Hsieh, F.-C. Wang, C.-C. Chang, F.-S. Ray, W.-C. Tseng, Y.-Y. Chang, S.T. Chen, T.-C. Lee, M.H. National Taiwan Normal University Institute and Undergraduate Program of Electro-Optical Engineering Taipei Taiwan National Yang Ming Chiao Tung University Department of Electronics Engineering and Institute of Electronics Hsinchu Taiwan Synopsys Taiwan Co. Ltd. Tcad Silicon Engineering Group Hsinchu Taiwan National Chung Hsing University Department of Electrical Engineering Taichung Taiwan Taiwan Semiconductor Manufacturing Company Corporate Research Hsinchu Taiwan

ISBN: (纸本)9781665497725

After 1011 high endurance cycles with memory window (MW) =0.9 V is achieved for the 3D gate-all-around (GAA) nanosheet (NS) ferroelectric field-effect transistor (FeFET) based on double-HZO;the aim is to homogenize the corner field and mitigate dead zones. The interlayer Al2O3 or TiN in the double-HZO exhibits MW enhancement or low access voltage, respectively. The proposed MFMFS GAA-FeFET demonstrates a low VP/E = ±3.5 V (±2.3 MV/cm), large MW = 1.3 V, >1011 robust endurance cycles, and stable storage with data retention of >2×104 s;therefore, physical dimension scaling of the embedded nonvolatile memory (eNVM) is feasible for future generations. © 2022 IEEE.

关键词： Aluminum oxide

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Super-resolution reconstruction using channel splitting residual edge-guided network for wideband magnetic resonance imaging

Super-resolution reconstruction using channel splitting resi...

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International Forum on Medical Imaging in Asia 2021, IFMIA 2021

作者： Hsu, Feng-Yu Chen, Jyh-Horng Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taiwan Department of Electrical Engineering National Taiwan University Taiwan

ISBN: (数字)9781510644212

ISBN: (纸本)9781510644205

In order to improve the accuracy of surgical analysis and clinical diagnosis, it is very important to obtain brain structure images. And magnetic resonance imaging (MRI) is one of the most commonly used methods. Moreover, High-Resolution (HR) MR image with smaller pixel size provides more important structure and texture details [1] and helps early diagnosis and subsequent analysis. But in fact, it is relatively difficult to obtain high-quality MR images due to many factors, such as hardware equipment, imaging time, required signal to noise ratio (Signal to Noise Ratio, SNR) and motion artifacts, etc. Generally speaking, brain MR images are often obtained with thick slice thickness and lower image quality to reduce the scanning cost and sampling time. However, this is not conducive to further medical analysis. For decades, Super- Resolution (SR) related technologies have been used to improve the quality of MR images to restore important structural information and facilitate clinical diagnosis. Also, as deep learning (DL) develops significantly nowadays, DL-based methods are widely applied to SR issues. Therefore, we propose a convolution neural network (CNN) SR method called Channel Splitting Edge-guided Residual Network (CSERN). Besides, we combine our method with a novel accelerating imaging method called Single-frequency Excitation WideBand (SE-WB) MRI and design a loss function to achieve higher performance on several index such as structural similarity index (SSIM) and Peak signal-to-noise ratio (PSNR). © 2021 SPIE.

关键词： Magnetic resonance imaging

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