In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environmen...
详细信息
ISBN:
(数字)9798331517564
ISBN:
(纸本)9798331517571
In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.
Photodynamic therapy(PDT)is attracting attention as a next-generation cancer treatment that can selectively destroy malignant tissues,exhibit fewer side effects,and lack pain during *** PDT systems have recently been ...
详细信息
Photodynamic therapy(PDT)is attracting attention as a next-generation cancer treatment that can selectively destroy malignant tissues,exhibit fewer side effects,and lack pain during *** PDT systems have recently been developed to resolve the issues of bulky and expensive conventional PDT systems and to implement continuous and repetitive *** implantable PDT systems,however,are not able to perform multiple functions simultaneously,such as modulating light intensity,measuring,and transmitting tumor-related data,resulting in the complexity of cancer ***,we introduce a flexible and fully implantable wireless optoelectronic system capable of continuous and effective cancer treatment by fusing PDT and hyperthermia and enabling tumor size monitoring in *** system exploits micro inorganic light-emitting diodes(μ-LED)that emit light with a wavelength of 624 nm,designed not to affect surrounding normal tissues by utilizing a fully programmable light intensity ofμ-LED and precisely monitoring the tumor size by Si phototransistor during a long-term implantation(2–3 weeks).The superiority of simultaneous cancer treatment and tumor size monitoring capabilities of our system operated by wireless power and data transmissions with a cell phone was confirmed through in vitro experiments,ray-tracing simulation results,and a tumor xenograft mouse model in *** all-in-one single system for cancer treatment offers opportunities to not only enable effective treatment of tumors located deep in the tissue but also enable precise and continuous monitoring of tumor size in real-time.
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control...
详细信息
This paper proposes a miniaturized dual-band branch-line coupler with an increased frequency ratio for 5G applications. In this design, a T-shaped line replaced the conventional line in which both the lines and stubs ...
详细信息
ISBN:
(数字)9781665479622
ISBN:
(纸本)9781665479639
This paper proposes a miniaturized dual-band branch-line coupler with an increased frequency ratio for 5G applications. In this design, a T-shaped line replaced the conventional line in which both the lines and stubs were folded to obtain a 46.62% size reduction compared to the standard one. Moreover, the design demonstrates an increased frequency ratio of 5 centered at 0.7 GHz and 3.5 GHz. The structure is designed on an RT/Duroid 5880 substrate and simulated using a CST-MW studio.
The main goal of this paper was to find out how the gender and age group acoustical models behave on audio data that is in no way related to the data corpora used to train and evaluate the models. These models could b...
The main goal of this paper was to find out how the gender and age group acoustical models behave on audio data that is in no way related to the data corpora used to train and evaluate the models. These models could be used for early predator detection in minors’ audio chats. The datasets used for training were mainly composed of English speakers. One part was made up of speakers whose native language is English and the rest use English as a secondary language.
In this paper, we propose a Model Predictive Control (MPC) based distributed formation control method for a multi-robot system (MRS) that would move them among dynamic obstacles to a desired goal position. Specificall...
In this paper, we propose a Model Predictive Control (MPC) based distributed formation control method for a multi-robot system (MRS) that would move them among dynamic obstacles to a desired goal position. Specifically, after formulating the formation control, as a distributed version of MPC, we propose and evaluate three information-sharing schemes within the MRS; namely sharing (i) positions, (ii) complete predicted trajectories, and (iii) exponentially-sampled predicted trajectories. Using a simplified kinematic model for robots, we conducted systematic simulation experiments in (a) scenarios, where the robots are instructed to switch places, as one of the most challenging forms of formation changes, and in (b) scenarios where robots are instructed to reach a goal, within environments containing dynamic obstacles. In a set of systematic experiments conducted in simulation and with mini quadcopters, we have shown that sharing of exponentially-sampled trajectories (as opposed to positions, or complete trajectories) among the robots provides near-optimal paths while decreasing the required computation cost and communication bandwidth. Surprisingly, in the presence of noise, sharing exponentially-sampled trajectories among the robots decreased the variance in the final paths. The proposed method is demonstrated on a group of Crazyflie quadcopters.
Background: Human Emotion Recognition (HER) has been a popular field of study in the past years. Despite the great progresses made so far, relatively little attention has been paid to the use of HER in autism. People ...
详细信息
Background: Human Emotion Recognition (HER) has been a popular field of study in the past years. Despite the great progresses made so far, relatively little attention has been paid to the use of HER in autism. People with autism are known to face problems with daily social communication and the prototypical interpretation of emotional responses, which are most frequently exerted via facial expressions. This poses significant practical challenges to the application of regular HER systems, which are normally developed for and by neurotypical people. Objective: This study reviews the literature on the use of HER systems in autism, particularly with respect to sensing technologies and machine learning methods, as to identify existing barriers and possible future directions. Methods: We conducted a systematic review of articles published between January 2011 and June 2023 according to the 2020 PRISMA guidelines. Manuscripts were identified through searching Web of Science and Scopus databases. Manuscripts were included when related to emotion recognition, used sensors and machine learning techniques, and involved children with autism, young, or adults. Results: The search yielded 346 articles. A total of 65 publications met the eligibility criteria and were included in the review. Conclusions: Studies predominantly used facial expression techniques as the emotion recognition method. Consequently, video cameras were the most widely used devices across studies, although a growing trend in the use of physiological sensors was observed lately. Happiness, sadness, anger, fear, disgust, and surprise were most frequently addressed. Classical supervised machine learning techniques were primarily used at the expense of unsupervised approaches or more recent deep learning models. Studies focused on autism in a broad sense but limited efforts have been directed towards more specific disorders of the spectrum. Privacy or security issues were seldom addressed, and if so, at a rather
The linear oscillating actuator (LOA) achieves high efficiency and features a simple mechanical structure because it doesn’t require the conversion of rotational motion into linear motion. Therefore, the LOA is an ap...
The linear oscillating actuator (LOA) achieves high efficiency and features a simple mechanical structure because it doesn’t require the conversion of rotational motion into linear motion. Therefore, the LOA is an appealing option for devices such as compressors, linear pump and automobile active suspension due to its high efficiency and power density. The stability of permanent magnets (PMs) can be impacted by different factors such as temperature, electromagnetic fields, and other external influences. In more severe cases, these factors can result in the occurrence of irreversible demagnetization, causing permanent damage to the magnetic properties of the PM. The irreversible demagnetization of permanent magnets impacts the electromagnetic functionality of the LOA, making it necessary to account for it during the design stage. However, the intricate configuration of the LOA such as divided outer stator and PMs diminishes accuracy of the 2-D finite element analysis (FEA). Despite its high computational cost for calculating accurate demagnetization ratio (DR), 3-D FEA is essential. Thus, we propose a demagnetization analysis based on transfer learning (TL) to reduce the computational cost associated with accurately calculating the 3-D FEA-based DR. This approach takes into account the permeance in the stator core and circumferential leakage flux. With TL, the parameters of pre-trained models learned from a source dataset in different but similar domains are transferred to learn the target dataset and effectively enhance the performance of neural network. The TL is conducted with a substantial dataset from 2-D FEA-based demagnetization ratio (DR) anda limited dataset from 3-D FEA-based DR. TL is a cognitive learning approach that utilizes knowledge acquired from a source task to enhance learning in a related but different target task were compared.
作者：
P. BogackiM. DługoszT. TalaśkaR. DługoszAptiv Services Poland
Kraków Poland Institute of Telecommunications
Faculty of Computer Science Electronics and Telecommunications AGH University of Science and Technology Kraków Poland Faculty of Control
Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Poznan Poland Faculty of Telecommunication
Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland
The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance Systems (ADAS). One of the motivations was to obtain a descriptor that ...
The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance Systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock.
The evolution of healthcare systems worldwide necessitates continual improvement in hospital management practices, particularly pharmaceutical management. This paper explores transforming traditional pharmaceutical ma...
详细信息
暂无评论