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Large-scale assembly of Cu/CuO nanowires for nano-electronic device fabrication

Science China(Technological Sciences) 2014年第4期57卷 734-737页

作者： XU Ke TIAN XiaoJun YU HaiBo YANG Yang ZHOU Lei LIU LianQing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Information & Control Engineering Faculty Shenyang Jianzhu University

To improve the efficiency of nano-electronic device fabrication, a new method named floating electrical potential assembly is proposed to realize large-scale assembly of Cu/CuO nanowires, The simulation of floating electrical potential distribution on the micro-electrode chip is performed by COMSOL software, and the simulation result shows that the coupled electrical poten- tial on the floating drain electrodes is very close to the original electrical potential applied on the gate electrode, whicb means that the method can provide di-electrophoresis （DEP） force for all the electrode pairs at one time, thus realizing large-scale as- sembly at one time. With Cu/CuO nanowires well dispersed and micro-electrode chip fabrication, nanowires assembly experiments are performed and the experimental results show that Cu/CuO nanowires are assembled at hundreds of micro-electrodes pairs at one time, and the success rate of nanowires assembly also reaches 90%.

关键词： large-scale assembly Cu/CuO nanowires floating potential di-electrophoresis

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Predicting the output error of the suboptimal state estimator to improve the performance of the MPC-based artificial pancreas

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control Theory and Technology 2023年第4期21卷 541-554页

作者： Martin Dodek Eva Miklovičová Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information TechnologySlovak University of Technology in BratislavaIlkovičova 3Bratislava81219Slovakia

The error of single step-ahead output prediction is the information traditionally used to correct the state estimate while exploiting the new measurement of the system ***,its dynamics and statistical properties can be further studied and exploited in other *** is known that in the case of suboptimal state estimation,this output prediction error forms a correlated sequence,hence it can be effectively predicted in real *** a suboptimal scenario is typical in applications where the process noise model is not known or it is ***,the paper deals with the problems of analytical and empirical modeling,identification,and prediction of the output error of the suboptimal state estimator for the sake of improving the output prediction accuracy and ultimately the performance of the model predictive *** improvements are validated on an empirical model of type 1 diabetes within an in-silico experiment focused on glycemia prediction and implementation of the MPC-based artificial pancreas.

关键词： Suboptimal state estimation Prediction Autoregressive model Moving average model Model predictive control Diabetes mellitus Artificial pancreas

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A novel explainable ECG classification with spatio-temporal transformers and hybrid loss optimization

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Biomedical Signal Processing and control 2025年 110卷

作者： Inam Abousaber Hany El-Ghaish Haitham F. Abdallah Dept. of Information Technology Faculty of Computers and Information Technology University of Tabuk Tabuk Saudi Arabia Dept. of Computer and Control Faculty of Engineering Tanta University 31526 Gharbiya Tanta Egypt Dept. of Electrical Engineering Higher Institute of Engineering and Technology Kafrelsheikh 33511 Egypt

This paper presents a novel deep learning framework for ECG arrhythmias detection, integrating Spatio-Temporal Adaptive Embedding (STAE) Transformers and Variational Autoencoders (VAEs) to improve classification accuracy and address class imbalance. Traditional ECG classification models struggle to capture long-range temporal dependencies and handle imbalanced datasets, leading to poor sensitivity for rare arrhythmias. The proposed system employs STAE Transformers to model intricate temporal and spatial relationships within ECG signals to overcome these challenges. At the same time, VAEs generate diverse and realistic ECG samples to enhance model generalization, particularly for underrepresented arrhythmias. Additionally, combining Focal Loss and Dice Loss, a Hybrid Loss Function further optimizes performance by focusing on hard-to-classify arrhythmias. The model is evaluated on the MIT-BIH Arrhythmias Database and PTB Diagnostic ECG Database using 5-fold cross-validation, achieving an accuracy of 99.56% and a macro F1-score of 95.40%, outperforming existing state-of-the-art methods, with a 3.5% improvement in sensitivity for rare arrhythmias. To ensure interpretability, SHapley Additive exPlanations (SHAP) and Gradient-weighted Class Activation Mapping (Grad-CAM) are utilized, highlighting the QRS complex and RR intervals as the most critical features and confirming that the model focuses on clinically relevant waveform regions. These results demonstrate the effectiveness of our approach in developing an accurate, interpretable, and robust deep learning system for ECG arrhythmias detection, paving the way for more reliable clinical decision support systems.

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China School of Electrical Engineering China University of Mining and Technology Xuzhou221116 China Xinjiang Institute of Engineering Xinjiang Urumqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Department of Automation Mining Production University of Mining and Geology St. Ivan Rilski Sofia1700 Bulgaria School of Electrical Engineering University of Nottingham University Park Campus Nottingham United Kingdom Moscow111250 Russia Faculty of Control Systems and Robotics Engineer Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg197101 Russia Institute of Energy Peter the Great Saint-Petersburg Polytechnic University Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. However, the large back-EMF results in the excitation winding current being demagnetized more slowly, which in turn reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively utilize the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (DC) and high-frequency alternating current (AC) inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this paper using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency AC drive characteristics, as well as their advantages in terms of efficiency, output capacity and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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Implementing Industry 4.0 in Discrete Manufacturing: Options and Drawbacks

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IFAC-PapersOnLine 2018年第6期51卷 473-478页

作者： Arm, J. Zezulka, F. Bradac, Z. Marcon, P. Kaczmarczyk, V. Benesl, T. Schroeder, T. Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic Institute for Automation Engineering Faculty of Electrical Engineering and Information Technology Otto von Guericke University Magdeburg Germany

The Industry 4.0 concept embodies a topic widely discussed during specialized meetings and tutorials. Originally, this approach was interpreted as an attempt to shift industrial processes towards establishing the fully digitized smart factory; at present, however, it already exerts an influence on many other fields and disciplines. In this article, the concept is described from the perspective of discrete manufacturing. The implementation possibilities are outlined, with options such as the Asset Administrative Shell or Consumer-Provider model introduced in greater detail. We also mention some drawbacks to implementing job shop scheduling as provided by the latter option; these disadvantages include, for instance, the deadlock situation. Some methods to solve the problem are demonstrated to facilitate well-balanced presentation. A job shop scheduling algorithm using the AAS is also addressed, and a new evaluation function is proposed. © 2018

关键词： Job shop scheduling Industry 4.0 Optimization Scheduling algorithms deadlock decentralized Discrete manufacturing Distributed control Evaluation function Industrial processs Manufacturing plant Well balanced

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Gain-Scheduled MPC Design for Nonlinear Systems with Input Constraints

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IFAC-PapersOnLine 2015年第11 11期48卷 912-917页

作者： Ilka, Adrian Veselý, Vojtech Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovicova 3 Bratislava812 19 Slovakia

A novel methodology is proposed for discrete model predictive gain-scheduled controller design for nonlinear systems with input(hard)/output(soft) constraints for finite and infinite prediction horizons. The proposed design procedure is based on the linear parametervarying (LPV) paradigm, afine parameter-dependent quadratic stability and on the notion of the parameter-varying guaranteed cost. The obtained design procedure is in the form of BMI. Numerical examples show the benefit of the proposed approach. © 2015

关键词： Design controllers Cost functions Gain control Lyapunov functions Nonlinear systems Predictive control systems Gain scheduled controllers Linear parameter varying LPV systems Parameter dependent Lyapunov function Parameter dependents Prediction horizon Predictive controller Quadratic stability

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Real-Time UAV Fault Detection and Classification Using Measurement Data from the PADRE Database

Real-Time UAV Fault Detection and Classification Using Measu...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Puchalski, Radoslaw Giernacki, Wojciech Ha, Quang Institute of Robotics and Machine Intelligence University of Technology Faculty of Control Robotics and Electrical Engineering of Poznan Poznan Poland School of Electrical and Data Engineering University of Technology Sydney Faculty of Engineering and Information Technology UltimoNSW2007 Australia

ISBN: (纸本)9798350312072

The growing number of applications for unmanned aerial vehicles operating in close proximity to humans calls for strict safety requirements. To ensure reliability and safety, fast and effective diagnosis of possible drone faults is needed. In this paper, a study on the detection of damage to the propellers of a multirotor using inertial sensors was conducted. Measurement data from the publicly available PADRE repository were used. Frequency features and raw measurement data applicability were tested. Two different approaches to data processing during fault detection and classification were tested. The first is to analyze the signals after collecting the entire set of data needed for treatment by the neural network. The second approach processes the data after every single acquisition of sensor measurements. The performance results and processing time of each solution are recorded for analysis. By effectively selecting parameters of the proposed approaches, the processing time and accuracy of UAV fault classification can be significantly improved, as verified over different classes of propeller defects. Early fault detection is essential for safe operations of multirotor drones. © 2024 IEEE.

关键词： Drones

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Attention shifting during child-robot interaction:a preliminary clinical study for children with autism spectrum disorder

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Frontiers of information Technology & Electronic engineering 2019年第3期20卷 374-387页

作者： Guo-bin WAN Fu-hao DENG Zi-jian JIANG Sheng-zhao LIN Cheng-lian ZHAO Bo-xun LIU Gong CHEN Shen-hong CHEN Xiao-hong CAI Hao-bo WANG Li-ping LI Ting YAN Jia-ming ZHANG Shenzhen Maternal&Child Healthcare Hospital Institute of Robotics and Intelligent Manufacturing The Chinese University of Hong Kong(Shenzhen) School of Mechanical Engineering Zhejiang University Institute of Information Engineering&Technology Huaqiao University School of Information and Control Engineering China University of Mining and Technology School of Mechanical and Electrical Engineering Beijing Information Science and Technology University Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

There is an increasing need to introduce socially interactive robots as a means of assistance in autism spectrum disorder(ASD) treatment and rehabilitation, to improve the effectiveness of rehabilitation training and the diversification of treatment, and to alleviate the shortage of medical personnel in China's Mainland and other places in the world. In this preliminary clinical study, three different socially interactive robots with different appearances and functionalities were tested in therapy-like settings in four different rehabilitation facilities/institutions in Shenzhen, China. Seventy-four participants, including 52 children with ASD, whose processes of interacting with robots were recorded by three different cameras, all received a single-session three-robot intervention. Data were collected from not only the videos recorded, but also the questionnaires filled mostly by parents of the participants. Some insights from the preliminary results were obtained. These can contribute to the research on physical robo it design and evaluations on robots in therapy-like settings. First, when doing physical robot design, some preferential focus should be on aspects of appearances and functionalities. Second, attention analysis using algorithms such as estimation of the directions of gaze and head posture of a child in the video clips can be adopted to quantitatively measure the prosocial behaviors and actions(e.g., attention shifting from one particular robot to other robots) of the children. Third, observing and calculating the frequency of the time children spend on exploring/playing with the robots in the video clips can be adopted to qualitatively analyze such behaviors and actions. Limitations of the present study are also presented.

关键词： Human-robot interaction Robot-enhanced therapy Socially interactive robots Robot-mediated intervention

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Learning Image-Based Contaminant Detection in Wool Fleece from Noisy Annotations 13th

Learning Image-Based Contaminant Detection in Wool Fleece fr...

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13th International Conference on Computer Vision Systems, ICVS 2021

作者： Patten, Timothy Alempijevic, Alen Fitch, Robert Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia Automation and Control Institute Faculty of Electrical Engineering and Information Technology TU Wien Vienna1040 Austria

ISBN: (纸本)9783030871550

This paper addresses the problem of detecting natural contaminants in freshly shorn wool fleece in RGB images using deep learning-based semantic segmentation. The challenge of inconsistent annotation is overcome by learning the probability of contamination as opposed to a discrete class. From the continuous value predictions, contaminated regions can be extracted by selectively thresholding on the probability of contamination. Furthermore, the imbalance of the class distributions is accounted for by adaptively weighting each pixel’s contribution to the loss function. Results show that the adaptive weight improves the prediction accuracy and overall outperforms learning an approximated representation by quantising the distributions. © 2021, Springer Nature Switzerland AG.

关键词： Wool

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Hand gesture-based interface with multichannel sEMG band enabling unknown gesture discrimination 10

Hand gesture-based interface with multichannel sEMG band ena...

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10th International Workshop on Robot Motion and control, RoMoCo 2015

作者： Tomczyński, Jakub Kaczmarek, Piotr Mańkowski, Tomasz Institute of Control and Information Engineering Faculty of Electrical Engineering Poznan University of Technology Poznań Poland

ISBN: (纸本)9781479970438

A forearm band consisting of 7 EMG sensors was developed. The band is dedicated to serve as a human-machine interface and its applicability as a gesture-based interface was presented. The gesture recognition was performed by ANN with softmax output function. The classifier uses output entropy function to discriminate between known command gestures and unknown gestures. 15 features of low computational complexity were selected. The preliminary test was performed for 4 healthy volunteers. Continuous time series were used, including unknown gestures and transitions. Special attention was paid to analyze system properties of detecting and rejecting unknown gestures (not commands movements), even if they were not included in training set. Obtained preliminary results show the sensitivity for command gestures (including transition phases) of 97% and fall out of 1.9%. In case of the system trained to reject unknown gestures the sensitivity and fall out were 82% and 9%, respectively. The calculated unknown gestures rejection rate was at 96%. It was shown that in most cases the interface is robust to false positive detection of command gestures while performing other gestures, even if the same muscles groups were recruited for movement. © 2015 IEEE.

关键词： Continuous time systems

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