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Optimization of Robot End-Effector Load Gravity Compensation for Unmanned Live Work in Electric Power Distribution Networks Based on Improved PSO Algorithm

Optimization of Robot End-Effector Load Gravity Compensation...

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2023 China Automation Congress, CAC 2023

作者： Chen, Jinge Chen, Xin Hu, Chenyu Huang, Guangxian Sun, Shu Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering-Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Distribution Department Xianning437000 China State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Equipment Technology Center Wuhan430077 China

ISBN: (纸本)9798350303759

In the field of electric power distribution network operation, most tasks involve contact operations. A key technology to enable the flexible operation of robots in live distribution network tasks is the installation of six-dimensional force sensors on the robot's end flange. These sensors allow the robot to perceive external environmental contact forces. However, the presence of the end load interferes with the accurate perception of external forces. Aiming at the gravity compensation of robot end load, an optimization algorithm of gravity compensation based on particle swarm optimization is proposed. In this method, the optimal solution model is established with the objective of minimum sum of squared errors, and the particle swarm optimization algorithm is used to estimate the mounting declination angle of the force sensor and improve the precision of gravity compensation. The experiments show that the proposed method can effectively reduce the maximum gravity compensation error and the average gravity compensation error in each direction after optimization, in which the maximum gravity compensation error of the resultant force is reduced by 9.11% and the average gravity compensation error of the resultant force is reduced by 12.34%. © 2023 IEEE.

关键词： Error compensation

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Discrete Communication and control Updating in Event-Triggered Consensus

arXiv

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arXiv 2022年

作者： Cheng, Bin Lv, Yuezu Li, Zhongkui Duan, Zhisheng Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai200120 China Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314000 China State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the controller implementation without requiring any global information of the whole network topology. Noting that the existing related results only meeting one or two demands at most are essentially not applicable, in this paper we establish a novel framework to solve the problem of fully distributed consensus with discrete communication and control. The first key point in this framework is the design of controllers that are only updated at discrete event instants and do not depend on global information by introducing time-varying gains inspired by the adaptive control technique. Another key point is the invention of novel dynamic triggering functions that are independent of relative information among neighboring agents. Under the established framework, we propose fully distributed state-feedback event-triggered protocols for undirected graphs and also further study the more complexed cases of output-feedback control and directed graphs. Finally, numerical examples are provided to verify the effectiveness of the proposed event-triggered protocols. Copyright © 2022, The Authors. All rights reserved.

关键词： Directed graphs

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Verification of Usefulness of Student Modeling with Real Educational Data using Convex Factorization Machines

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Procedia Computer Science 2021年 192卷 804-811页

作者： Shinichi Oeda Daiki Shimizu Department of Information and Computer Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan Advanced Course of Control and Information Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan

Extracting useful information generated from educational settings involves the application of data mining, machine learning, and statistics to the large amount of electronic data collected by educational systems. To generate better higher learning outcomes using an intelligent tutoring system, such as an e-learning system, it is necessary to more accurately understand the state of student knowledge. The purpose of student modeling is to estimate the students’ skills from log data, such as examination results, and to predict whether or not a student will be able to solve a problem. In this study, we propose a student performance prediction method using convex factorization machines. Factorization machines offer a combination of the advantages of support vector machines and factorization models such as matrix factorization. The results of conventional methods, which predict student performance using factorization machines, exhibited better results than they have before. However, because factorization machines are not convex optimizations, they acquire local minima, which is a disadvantage. Therefore, we used convex factorization machines in order to improve the performance of student modeling predictions.

关键词： Educational Data Mining Student Modeling Convex Factorization Machines Factorization Machines Convex Optimization Recommendation Intelligent Tutoring systems

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ARE BIOPOLYMERS THE WEAPON AGAINST POLLUTION DUE TO DISPOSABLE PACKAGING? NEW BIOBASED EDIBLE MATERIALS FOR PACKAGING FOOD SUPPLEMENTS 21

ARE BIOPOLYMERS THE WEAPON AGAINST POLLUTION DUE TO DISPOSAB...

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21st International Multidisciplinary Scientific Geoconference: Ecology, Economics, Education and Legislation, SGEM 2021

作者： Gheorghita, Roxana Gutt, Gheorghe Department of Human and Health Development Stefan cel Mare University of Suceava Romania Integrated Center for Research Development and Innovation in Advanced Materials Nanotechnologies and Distributed Systems for Fabrication and Control Stefan cel Mare University of Suceava Romania Faculty of Food Engineering Stefan cel Mare University of Suceava Romania

ISBN: (纸本)9786197603361

Nowadays, the food supplement industry has grown considerably, mainly due to the orientation of consumers towards more natural products. In Romania, the Institute of Food Bioresources notified over 900 food supplements in 2020 and over 1500 in 2019. Unfortunately, the use of these supplements, although healthy, is problematic due to environmental pollution. The packaging used, often disposable, is highly polluting, multilayer, difficult to sort and impossible to recycle. This paper presents a viable option for packaging food supplements: completely edible materials, obtained from biopolymers, with rosemary, thyme and oregano essential oils addition. Agar, sodium alginate, and glycerol were used to obtain the films. The essential oils were added in different volumes. The samples were tested in order to evaluate the physical and optical characteristics and to determine solubility. The solubility characteristics are important in this sense as these films are recommended as packaging for food supplements and can be consumed with them, by dissolving in liquids with a temperature of about 30 degrees. The addition of essential oil has improved the physical characteristics of the films. Thus, they presented a more pleasant smell, taste and color, improved transmittance, and reduced roughness. The films were also tested microbiologically, and no microorganisms such as bacteria, yeasts and molds developed on the samples. The addition of essential oil increased the values of the film transmittance (from 4.22% in the case of the control sample, to 15.98% in the case of the sample with 25 microliters of oregano essential oil). Similarly, the opacity values decreased with the addition of essential oils (from 28.254 to 17.24 for the sample with a lower volume of oregano essential oil in the composition). According to microstructure images and micro topographies, films with the addition of oregano essential oil are more homogeneous, more uniform and with lower roughness values. The

关键词： Packaging

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THE IMPORTANCE OF STARCH SOURCE IN THE DEVELOPMENT OF EDIBLE MATERIALS FOR FOOD PACKAGING 21

THE IMPORTANCE OF STARCH SOURCE IN THE DEVELOPMENT OF EDIBLE...

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21st International Multidisciplinary Scientific Geoconference: Nano, Bio and Green - Technologies for a Sustainable Future, SGEM 2021

ISBN: (纸本)9786197603361

The packaging of a food product is an extremely important step in its path from development to the final consumer. The packaging has important functions: preservation and protection of packaged products, handling, storage and transport, as well as promotion. Most consumers choose a product based on its packaging, so we can say that it is the business card of a product. But because the consumer has refined his preferences and become more and more attentive to what he buys, the industry is looking for solutions to create new, biodegradable or compostable materials, that can bring benefits for the producer, trader and, especially, the consumer. The present study focused at developing new materials that can be used for packaging products and food supplements, being obtained entirely from starch from various sources, and plasticizer. In this sense, three types of starch were used;derived from corn, wheat and potatoes, 12 films with different concentrations of starch (50-100%) and glycerol (0-50%) were obtained. After development, the films were tested in order to establish some characteristics such as: microstructure, thickness, retraction ratio, color, transmittance, opacity, water activity index, moisture and water solubility. The results indicate that the final properties of the materials are influenced by the type of starch used. Thus, the films obtained from wheat starch and potatoes, plasticized with 50% glycerol are self-adhesive, with high solubility, and can be used for packaging products with low moisture content, and which are completely solubilized when consumed (food supplements, candies, raw sausages dried sliced etc.). The films obtained from potato starch with the addition of 10, respectively 25% plasticizer, are finer, with higher transmittance, but insoluble, which do not allow multiple bending, and with high fracturability, unlike films obtained from wheat starch, that were softer, finer, flexible and with higher solubility. The films obtained with cor

关键词： Starch

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A novel underwater image synthesis method based on a pixel-level self-supervised training strategy

A novel underwater image synthesis method based on a pixel-l...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Wu, Zhiheng Wu, Zhengxing Lu, Yue Wang, Jian Yu, Junzhi Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781665436786

With the rapid development of deep neural networks, underwater vision plays an increasingly important role in the underwater robotic operation. However, the scarce underwater datasets greatly limit the performance of deep learning on underwater visual tasks, further hindering the applications of underwater operation. To solve this problem, we propose an underwater image synthesis method, which can directly convert the natural light image into the synthetic underwater image end-to-end. Particularly, a pixel-level self-supervised training strategy is designed to maximize the structural similarity between the synthesized and real images, through training the real underwater images. Finally, extensive experiments are carried out, and the obtained results demonstrate the effectiveness and superiority of our methods by quantitative and qualitative comparisons. The proposed underwater image synthesis method offers a valuable sight for underwater vision and manipulating control. © 2021 IEEE.

关键词： Deep neural networks

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Triple-Doping (Cu, P, N) for the Activation of Catalytic Sites in Co0.4mn0.6o2 Nanosheets for Zn-Air Battery Applications

SSRN

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SSRN 2022年

作者： Li, Ying Talib, Shamraiz Hussain Liu, Dongqing Zong, Kai Saad, Ali Song, Zhaoqi Zhao, Jie Liu, Wei Liu, Fude Tsiakaras, Panagiotis Cai, Xingke Institute for Advanced Study Shenzhen University Shenzhen China Guangdong Provincial Key Laboratory of Catalysis China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China College of Physics and Optoelectronic Engineering Shenzhen University 518060 China Laboratory of Alternative Energy Conversion Systems Department of Mechanical Engineering School of Engineering University of Thessaly 1 Sekeri Str. Pedion Areos 38834 Greece

In this work, we successfully synthesized bimetallic transition oxides into two-dimensional nanosheets, which expose all the catalytic sites on the surface. Then, Cu, N, and P elements were rationally doped inside the as prepared Co0.4Mn0.6O2 nanosheets to activate the Co/Mn catalytic sites. It is found that the resulting N/P-Cu0.1Co0.3Mn0.6O2/CNTs composites show an overpotential η10 of 290 mV for OER, much lower than the value measured using the original Co0.4Mn0.6O2/CNTs (463 mV). Meanwhile, N/P-Cu0.1Co0.3Mn0.6O2/CNTs also show decent performance with a half potential (E1/2) of 0.82 V vs RHE for ORR, i.e., a 702 mV voltage difference for OER and ORR, much lower than other transition metal oxide catalysts. By using N/P-Cu0.1Co0.3Mn0.6O2/CNTs as a cathodic catalyst for ZAB, we measured superior performance, with a peak power density of 108.1 mW cm-2 and stable operation for over 200 hours at 10 mA cm-2, better than IrO2-Pt/C-based ZAB. © 2022, The Authors. All rights reserved.

关键词： Chemical activation

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A Study on Relationship between Consumer Review Behavior and Purchasing in EC site 9

A Study on Relationship between Consumer Review Behavior and...

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9th International Congress on advanced Applied Informatics, IIAI-AAI 2020

作者： Yoshida, Miyuji Tabata, Tomoaki Hosoda, Takaaki Tokai University Course of Information and Telecommunication Engineering Tokyo Japan Tokai University Department of Information and Communication Technology Tokyo Japan Information Systems Architecture Advanced Institute of Industrial Technology Tokyo140-011 Japan

ISBN: (纸本)9781728173979

Based on the product review after purchase, the information of the transition from the abstract purchasing intention close to the potential desire to the specific purchase intention and the repeated purchase of the product after the purchase is structured, and the reason why the person writing the review leads to the repurchase is analyzed. © 2020 IEEE.

关键词： Consumer behavior

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Concept, Principle, and Modeling of Driving Risk Entropy Based on Human-Vehicle-Road Coupling Model for Autonomous Vehicle

SSRN

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SSRN 2024年

作者： Gao, Hongbo Yang, Hanqing Zhu, Juping Su, Huiping Wang, Ning Xie, Liping Li, Keqiang Department of Automation University of Science and Technology of China Hefei230026 China Institute of Advanced Technology University of Science and Technology of China Hefei230088 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Chongqing College of Mobile Communication Chongqing400044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing100084 China

Driving risk entropy, based on entropy law, is an innovative concept proposed for intelligent driving systems. The concept deals with the driving risks caused by the human-vehicle-road system from the driving information obtained;however, driving risks are difficult to assess due to many influencing factors and great uncertainty. The risk entropy model of vehicles is visualized by introducing the concept of basic isotropic risk elliptic line (BIREL). Further incorporating the concept of information entropy, risk entropy models for vehicle interaction and vulnerable participants are established, and the risk entropy model for roads is developed using raster coordinates. Ultimately, a three-dimensional driving risk entropy model is constructed based on the human-vehicle-road coupling model, with appropriate weights assigned to each parameter through the DDPG algorithm. Experimental results demonstrate the effectiveness of the driving risk entropy model. © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Artificial intelligence in gastric cancer:applications and challenges

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Gastroenterology Report 2022年第1期10卷 227-242页

作者： Runnan Cao Lei Tang Mengjie Fang Lianzhen Zhong Siwen Wang Lixin Gong Jiazheng Li Di Dong Jie Tian School of Artificial Intelligence University of Chinese Academy of SciencesBeijingP.R.China CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imagingthe State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of SciencesBeijingP.R.China Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Radiology DepartmentPeking University Cancer Hospital&InstituteBeijingP.R.China College of Medicine and Biological Information Engineering School Northeastern UniversityShenyangLiaoningP.R.China Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of Engineering MedicineBeihang UniversityBeijingP.R.China Engineering Research Center of Molecular and Neuro Imaging of Ministry of Education School of Life Science and TechnologyXidian UniversityXi’anShaanxiP.R.China

Gastric cancer(GC)is one of the most common malignant tumors with high *** diagnosis and treatment decisions for GC rely heavily on human experts’careful judgments on medical ***,the improvement of the accuracy is hindered by imaging conditions,limited experience,objective criteria,and inter-observer ***,the developments of machine learning,especially deep-learning algorithms,have been facilitating computers to extract more information from data *** are exploring the far-reaching applications of artificial intelligence(AI)in various clinical practices,including ***,we aim to provide a broad framework to summarize current research on AI in *** the screening of GC,AI can identify precancerous diseases and assist in early cancer detection with endoscopic examination and pathological *** the diagnosis of GC,AI can support tumor-node-metastasis(TNM)staging and subtype *** treatment decisions,AI can help with surgical margin determination and prognosis ***,current approaches are challenged by data scarcity and poor *** tackle these problems,more regulated data,unified processing procedures,and advanced algorithms are urgently needed to build more accurate and robust AI models for GC.

关键词： gastric cancer artificial intelligence radiomics endoscopy computed tomography pathology

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