检索结果-内蒙古大学图书馆

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Luis Piardi André Oliveira Pedro Costa Paulo Leitão Research Center in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Bragança Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal Universidade Tecnológica Federal do Paraná (UTFPR) Curitiba-PR Brazil Technology and Science (INESC TEC) Institute for Systems and Computer Engineering Porto Portugal Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC) Instituto Politécnico de Bragança Bragança Portugal

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

Cyber-physical systems (CPS) rapidly expand within industrial contexts in a new era of digitalization, processing power, and inter-device communication capabilities. These advancements integrate technologies such as the Internet of Things (IoT), artificial intelligence (AI), and cloud and edge computing, granting processes and operations a high degree of autonomy. In addition, these interconnections foster collective intelligence arising from information exchange and collaboration between components, often outperforming individual capabilities. This collective intelligence manifests in fault detection and diagnosis (FDD) tasks within CPS, as it significantly improves the flexibility, performance, and scalability. However, the inherent complexity of CPS poses challenges in determining the best configuration of the collaboration parameters, such as when and how to collaborate, wherein incorrect adjustments may lead to decision errors and compromise the system's performance. With this in mind, this paper proposes seven metrics to evaluate collaboration performance for fault detection and diagnosis in multi-agent systems (MAS)-based CPS, evaluating when the collaboration is beneficial or when the collaboration parameters need to be adjusted. The experiments focus on collaborative fault detection in temperature and humidity sensors within warehouse racks, where the proposed evaluation metrics point out the impact of collaboration on the detection task, as well as possible actions to be adopted to improve the agent's performance.

关键词： Measurement Temperature sensors Fault detection System performance Collaboration Cyber-physical systems Collective intelligence Sensors Internet of Things Artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

Optical super-resonances in dielectric microsphere particles

arXiv

引用

arXiv 2022年

作者： Wang, Zengbo Luk’yanchuk, Boris Wu, Baidong Yan, Bing Assel, Ahmetova Yaminsky, Igor Yu, Haibo Liu, Lianqing School of Computer Science and Electronic Engineering Bangor University Dean Street Gwynedd BangorLL57 1UT United Kingdom Faculty of Physics Lomonosov Moscow State University Moscow119991 Russia State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

Extreme field localization and giant field enhancement are often achieved by using plasmonic nanostructures and metamaterials such as strongly coupled silver nanoparticles. Dielectric particles and structures can focus light beyond the diffraction limit (photonic nanojet effect), but with much weaker strengths. Recently, we showed that dielectric microspheres could support high-order Mie resonance modes (‘super-resonance modes’), that can generate similar level of electric field intensity enhancement as plasmonic structures on the order of 104- 107. In this work, we aim to further advance our understanding of the super-resonance modes. New results on the effects of size parameter and refractive index on optical super-resonances across a wide parameter range and with improved numerical accuracies is presented. The results suggest that the electric field intensity enhancement could reach a record high level of 109-1011 at specific conditions that surpass plasmonic enhancements. Moreover, super-resonance-enabled focusing by microsphere lens under different lighting sources (e.g., different color LEDs or lasers, halogen lamps) is investigated and compared for the first time. These results are important in understanding the super-resolution mechanism for microsphere nanoscopy and will find numerous potential applications in photonics. © 2022, CC BY.

关键词： Microspheres

来源：评论

学校读者我要写书评

暂无评论

Dual-loop joint torque control based on lower limb exoskeleton robots

Dual-loop joint torque control based on lower limb exoskelet...

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Meitong Zhang Chi Zhang Feng Yi Xindong Shu Ting Yuan Zheng Li School of Electrical Engineering Hebei University of Science and Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology University of Chinese Academy of Sciences Ningbo China Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo Institute of Materials Technology and Engineering Chinese Academy of Science Ningbo China School of Electrical Engineering Hebei University of Science and Technology Shijiazhuang China

In the framework of impedance control, the torque trajectory of the joint is unpredictable due to nonlinear factors during the movement of the exoskeleton. To precisely predict command torque trajectory and compensate for the disturbances, we propose a dual-loop joint torque control system including predictive feedforward and a disturbance observer. A predictive feedforward module is adopted as the control outer loop based on the feedback control, and a general compensation module is used to compensate for the prediction error. The inner loop adopts a disturbance observer to estimate and compensate for low-frequency external disturbances. The simulation, which utilizes the actual torque of hip and knee joints as a reference, is conducted to prove the effectiveness of the proposed method. The comparison results demonstrate that the proposed control method can realize high bandwidth for exoskeleton joint control.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Cu/Ha/Zns/Peek Multicomponent Coatings with Varied Copper Content for Biomedical Applications

SSRN

引用

SSRN 2023年

作者： Kuśmierczyk, Filip Moskalewicz, Tomasz Grysakowski, Bartosz Cieniek, Lukasz Zimowski, Slawomir Kopia, Agnieszka Unalan, Irem Boccaccini, Aldo R. AGH University of Krakow Faculty of Metals Engineering and Industrial Computer Science Mickiewicza Av. 30 Kraków30-059 Poland AGH University of Krakow Faculty of Foundry Engineering Mickiewicza Av. 30 Kraków30-059 Poland AGH University of Krakow Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30 Kraków30-059 Poland Friedrich-Alexander-University of Erlangen-Nürnberg Institute of Biomaterials Cauerstr. 6 Erlangen91058 Germany Jiangsu Province Engineering Research Center of Stomatological Translational Medicine China

In this study, multicomponent Cu/HA/ZnS/PEEK coatings were electrophoretically deposited (EPD) on Zr-2.5Nb alloy substrates. The kinetics of coating deposition from suspensions with various Cu content was studied. Heating and slow cooling enabled the densification of coatings. The densified coatings were characterized by a limited number of pores and the presence of HA agglomerates on their surface. All of the obtained coatings exhibited significant roughness and mild hydrophilicity, as well as high adhesion to the alloy substrates. The coatings increased electrochemical corrosion resistance of the zirconium alloy. The coating obtained from the suspension with the highest copper content exhibited high antibacterial properties for both bacteria strains after 24 h. However, after 72h incubation, the samples had a better effect against Gram-negative than Gram-positive bacteria. Furthermore, this coating variant allowed the formation of hydroxyapatite on its surface in the Kokubo test. The obtained coatings showed antibacterial and bioactive properties with potential for further development, particularly as permanent coatings for bone implant applications. © 2023, The Authors. All rights reserved.

关键词： Electrophoresis

来源：评论

学校读者我要写书评

暂无评论

Biomimetic robots promote the 3Rs Principle in animal testing

Biomimetic robots promote the 3Rs Principle in animal testin...

引用

2021 Conference on Artificial Life, ALIFE 2021

作者： Bierbach, David Francisco, Fritz Lukas, Juliane Landgraf, Tim Maxeiner, Moritz Romanczuk, Pawel Musiolek, Lea Hafner, Verena V. Krause, Jens Faculty of Life Sciences Division of Biology and Ecology of Fishes Humboldt Universität zu Berlin Berlin Germany Department of Biology and Ecology of Fishes Leibniz Institute of Freshwater Ecology and Inland Fisheries Berlin Germany Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin Germany Faculty of Life Sciences Institute for Theoretical Biology Humboldt Universität zu Berlin Berlin Germany Adaptive Systems Group Department of Computer Science Humboldt-Universität zu Berlin Berlin Germany

In order to strengthen animal welfare, many countries require that experimenters follow the ‘3Rs Principle’ when designing animal experiments. The 3Rs call for a reduction in the number of animals used, the refinement of methods to reduce stress as well as the full replacement of animals in experimentation through alternative methods. Biomimetic robots that resemble live animals and allow for natural-like interactions represent a valuable tool to achieve the 3Rs’ objectives. On the basis of our research with a robotic fish that is accepted as a conspecific by live poeciliid fishes, we highlight how biomimetic robots can reduce the number of animals tested by (a) substituting live animals, (b) providing highly standardized cues, and (c) reducing overall stress for live animals during tests through less handling. © 2021 ALIFE. All Rights Reserved.

关键词： Invertebrates

来源：评论

学校读者我要写书评

暂无评论

Balance Assessment for Double and Single Leg Stance Using FIBOD Balance System 3rd

Balance Assessment for Double and Single Leg Stance Using FI...

引用

3rd International Conference for Innovation in Biomedical Engineering and Life sciences, ICIBEL 2020

作者： Khor, Kang Xiang Yeong, Che Fai Su, Eileen Lee Ming Latip, Hadafi Fitri Mohd Khor, Yvonne Yee Woon Chan, Sook Chin Chern, Phei Ming Leow, Mei Lian Abdullah, Najib bin Mustar, Muhammad Farhan bin Halim, Muhammad Nurhakim bin Abdul Skudai Johor81300 Malaysia Center of Artificial Intelligence and Robotics UTM Kuala Lumpur54100 Malaysia School of Biomedical Engineering and Health Science Faculty of Engineering UTM Skudai Johor81310 Malaysia Sports Innovation and Technology Centre UTM Skudai Johor81300 Malaysia UTM Skudai Johor81310 Malaysia MAHSA University Jenjarom Selangor42610 Malaysia Clinical Research Centre Cheras Rehabilitation Hospital Kuala Lumpur56000 Malaysia Faculty of Computer and Mathematical Sciences UiTM Segamat85000 Malaysia

ISBN: (纸本)9783030650919

Physical balance is important to support human motion for almost all activities of daily living such as standing, sitting, cooking, housework or shopping. However, balance tends to drop as human grow older due to the loss of muscle. FIBOD balance system (FBS) is a balance system designed to be portable and easy to use. This study investigates the FBS balance measures with 17 healthy subjects. Results show significant differences in double-leg overall stability index (OSI) and medial-lateral stability index (MLSI) (p = 0.01);double-leg and dominant leg MLSI (p © 2021, Springer Nature Switzerland AG.

关键词： Balance assessment Balance board Instrumented wobble board

来源：评论

学校读者我要写书评

暂无评论

Continuous-time fitted value iteration for robust policies

arXiv

引用

arXiv 2021年

作者： Lutter, Michael Belousov, Boris Mannor, Shie Fox, Dieter Garg, Animesh Peters, Jan Intelligent Autonomous Systems group Computer Science Department Technical University of Darmstadt Darmstadt Germany Andrew and Erna Viterbi Faculty of Electrical & Computer Engineering Technion – Israel Institute of Technology and a Distinguished Scientist at NVIDIA Tel Aviv Israel Allen School of Computer Science & Engineering University of Washington and Senior Director of Robotics Research NVIDIA Washington Seattle United States Computer Science Department University of Toronto NVIDIA Toronto Canada

Solving the Hamilton-Jacobi-Bellman equation is important in many domains including control, robotics and economics. Especially for continuous control, solving this differential equation and its extension the Hamilton-Jacobi-Isaacs equation, is important as it yields the optimal policy that achieves the maximum reward on a give task. In the case of the Hamilton-Jacobi-Isaacs equation, which includes an adversary controlling the environment and minimizing the reward, the obtained policy is also robust to perturbations of the dynamics. In this paper we propose continuous fitted value iteration (cFVI) and robust fitted value iteration (rFVI). These algorithms leverage the non-linear control-affine dynamics and separable state and action reward of many continuous control problems to derive the optimal policy and optimal adversary in closed form. This analytic expression simplifies the differential equations and enables us to solve for the optimal value function using value iteration for continuous actions and states as well as the adversarial case. Notably, the resulting algorithms do not require discretization of states or actions. We apply the resulting algorithms to the Furuta pendulum and cartpole. We show that both algorithms obtain the optimal policy. The robustness Sim2Real experiments on the physical systems show that the policies successfully achieve the task in the real-world. When changing the masses of the pendulum, we observe that robust value iteration is more robust compared to deep reinforcement learning algorithm and the non-robust version of the algorithm. Videos of the experiments are shown at https://***/view/rfvi Copyright © 2021, The Authors. All rights reserved.

关键词： Dynamic programming

来源：评论

学校读者我要写书评

暂无评论

Clustering of the Blendshape facial model

arXiv

引用

arXiv 2021年

作者： Racković, Stevo Soares, Cláudia Jakovetić, Dušan Desnica, Zoranka Ljubobratović, Relja Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Computer Science Department NOVA School of Science and Technology Lisbon Portugal Department of Mathematics Faculty of Sciences UNS Novi Sad Serbia 3Lateral Epic Games Company

Digital human animation relies on high-quality 3D models of the human face—rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We present a novel approach for learning the inverse rig parameters at increased accuracy and decreased computational cost at the same time. It is based on a two fold clustering of the blendshape face model. Our method focuses exclusively on the underlying space of deformation and produces clusters in both the mesh space and the controller space—something that was not investigated in previous literature. This segmentation finds intuitive and meaningful connections between groups of vertices on the face and deformation controls, and further these segments can be observed independently. A separate model for solving the inverse rig problem is then learnt for each segment. Our method is completely unsupervised and highly parallelizable. © 2021, CC BY-NC-SA.

关键词： Deformation

来源：评论

学校读者我要写书评

暂无评论

Selection of Methods for Intuitive, Haptic Control of the Underwater Vehicle’s Manipulator 20th

Selection of Methods for Intuitive, Haptic Control of the Un...

引用

20th Polish Control Conference, PCC 2020

作者： Grzejszczak, Tomasz Babiarz, Artur Bieda, Robert Jaskot, Krzysztof Kozyra, Andrzej Ściegienka, Piotr Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland SR Robotics sp. z o.o. ul. Karoliny 4 Katowice40-186 Poland

ISBN: (纸本)9783030509354

This paper is the early report of available market and scientific solutions allowing intuitive control. Manipulator control is presented in form of the Human Machine Interaction loop that describes both machine possibilities of sensing the human control and human possibilities of sensing the machine state. The survey is presented in form of the description and discussion of the advantages, disadvantages and usability of the available solutions. The aim of the research is to chose the proper path of development of the new way of intuitive control. © 2020, Springer Nature Switzerland AG.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

An Empirical Study of Security Practices for Microservices Systems

arXiv

引用

arXiv 2021年

作者： Ali, Rezaei Nasab Mojtaba, Shahin Ali, Hoseyni Raviz Seyed Peng, Liang Amir, Mashmool Valentina, Lenarduzzi School of Computer Science Wuhan University Wuhan430072 China School of Computing Technologies RMIT University Melbourne3000 Australia Department of Computer Science Bioengineering Robotics and System Engineering University of Genoa Genoa16126 Italy Faculty of Information Technology and Electrical Engineering University of Oulu OuluFI-90014 Finland

Despite the numerous benefits of microservices systems, security has been a critical issue in such systems. Several factors explain this difficulty, including a knowledge gap among microservices practitioners on properly securing a microservices system. To (partially) bridge this gap, we conducted an empirical study. We first manually analyzed 861 microservices security points, including 567 issues, 9 documents, and 3 wiki pages from 10 GitHub open-source microservices systems and 306 Stack Overflow posts concerning security in microservices systems. In this study, a microservices security point is referred to as "a GitHub issue, a Stack Overflow post, a document, or a wiki page that entails 5 or more microservices security paragraphs". Our analysis led to a catalog of 28 microservices security practices. We then ran a survey with 74 microservices practitioners to evaluate the usefulness of these 28 practices. Our findings demonstrate that the survey respondents affirmed the usefulness of the 28 practices. We believe that the catalog of microservices security practices can serve as a valuable resource for microservices practitioners to more effectively address security issues in microservices systems. It can also inform the research community of the required or less explored areas to develop microservices-specific security practices and tools. © 2021, CC BY.

关键词： Open systems

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：