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Development of deep sea ARV cables physical characteristics

IOP Conference Series: Earth and Environmental Science 2020年第1期461卷

作者： Chen Peng Yang Shangkui Cao Yongzhan Zhu Shuyun Liu Yuwang Ge Zhuang Bai Shihong School of Mechanical Engineering Shenyang Ligong University 110000 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110000 China School of Mechanical Engineering and Automation Northeastern University 110000 China Information and Control Engineering Faculty Shenyang Jianzhu University 110000 China School of Automation and Electrical Engineering Shenyang Ligong University 110000 China

Aiming at the challenging frontier problem of umbilical cable properties theory, which has been puzzled by this kind of robot for many years but has not been solved yet, this paper proposes an umbilical cable properties modelling method based on Kirchhoff elastic bar theory. This method analyzes the force on the umbilical cable member in the equilibrium state, obtains the Kirchhoff equation of the mobile cable in the equilibrium state, and then establishes the physical characteristics model of the mobile cable, and obtains the form of umbilical cable and the stress on the end point by solving the model. The new modelling theory research on the physical characteristics of deep-sea umbilical cable carried out in this paper is expected to solve the problem of 'unclear' problems of deep-sea slender umbilical cable, get rid of the dilemma of 'blind man and elephant', and provide guarantee for the safe and efficient operation of deep-sea robots.

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Production Scheduling Application Software for Small Medium Enterprises

Production Scheduling Application Software for Small Medium ...

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International Conference on System Science and engineering (ICSSE)

作者： Xuan-Thuyen Le The-Anh-Tu Nguyen Ngoc-Hieu Pham Ngoc-Huy Tran Innovation Fablab Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Control & Automation Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Mechatronics Cao Thang Technical College Ho Chi Minh City Vietnam

Derived from the current implementation of the production plan as well as the production schedule, Enterprise Resource Planning software with a built-in production scheduling algorithm helps optimize the uses of resources, reduce production time, increase productivity, and increase customer service levels. In this research, the available management platform (Odoo) with Python as the main programming language is proposed to build a system to support suitable schedule production plans helps shorten processing time and reduce order delay. In addition, the results are shown in detail and can be flexibly modified manually on the Gantt chart. The feasibility of the production scheduling application is shown by the Gantt chart before and after the scheduling. Moreover, the order delay rate has been reduced from 15% to 3.33%.

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Scheduling for Re-entrant Hybrid Flowshop Based on Wolf Pack Algorithm

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IOP Conference Series: Materials Science and engineering 2018年第3期382卷

作者： Zhonghua Han Xutian Tian Xiaofu Ma Shuo Lin Faculty of Information and Control Engineering Shenyang Jianzhu University Liaoning 110168 China Digital Factory Department Shenyang Institute of Automation CAS Shenyang 110016 China Information & Control Engineering Faculty Shenyang Jianzhu University Liaoning 110168 China Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA USA 24060

In order to solve the scheduling problems of Re-entrant Hybrid Flowshop (RHFS), this paper investigates the mathematical programming model of RHFS, and proposes the wolf pack based algorithm (WPA) as a global optimization method. Multi-Sticking Crape Masking procedure scheduling problems in painting workshop of a bus manufacturing enterprise are of typical features of RHFS. We regard it as an application objective of the proposed algorithm, applying WPA and multiple evolutionary algorithms to solve the problems. The results show that the algorithm can solve re-entrant scheduling problems of hybrid flowshop more effectively compared with other conventional methods.

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Performance comparison of optimization techniques in EHS system using sliding mode controller

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IOP Conference Series: Materials Science and engineering 2020年第1期834卷

作者： M S Chai R Ghazali S H Chong C C Soon J Too Y M Sam Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia. Control & Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Bahru Malaysia

Electro-Hydraulic Servo (EHS) system is a well-known nonlinear system in various types of industries due to its outstanding characteristics over other actuators. Despite its wide applications in industries, this system also suffering from nonlinearities and parameter uncertainties. Sliding Mode controller (SMC) has been proven by many researchers to be effective in positioning control of the nonlinear system. However, SMC controller parameters must be tuned in appropriate ways to control the EHS system. In this research, an SMC strategy which combines with an enhanced PSO called Multi-Objective Particle Swarm Optimization (MOPSO) is proposed in positioning control of the EHS system. The conventional PSO is design as well for comparison purpose. The output performance is analysed and verified using different performance indexes such as rise time, settling time, overshoot percentage, and root mean square error. The results show that the MOPSO is better in tuning the controller parameters.

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Relational Prompt-based Pre-trained Language Models for Social Event Detection

arXiv

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arXiv 2024年

作者： Pu, L.I. Xiaoyan, Y.U. Peng, Hao Xian, Yantuan Wang, Linqin Li, S.U.N. Zhang, Jingyun Philip, S.Y.U. Faculty of Information Engineering and Automation Yunnan Key Laboratory of Artificial Intelligence Kunming University of Science and Technology Kunming650500 China School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China School of Cyber Science and Technology Beihang University No. 37 Xue Yuan Road Haidian District Beijing100191 China School of Control and Computer Engineering North China Electric Power University Beijing102206 China Department of Computer Science University of Illinois at Chicago ChicagoIL60607 United States

Social Event Detection (SED) aims to identify significant events from social streams, and has a wide application ranging from public opinion analysis to risk management. In recent years, Graph Neural Network (GNN) based solutions have achieved state-of-the-art performance. However, GNN-based methods often struggle with missing and noisy edges between messages, affecting the quality of learned message embedding. Moreover, these methods statically initialize node embedding before training, which, in turn, limits the ability to learn from message texts and relations simultaneously. In this paper, we approach social event detection from a new perspective based on Pre-trained Language Models (PLMs), and present RPLM (Relational prompt-based Pre-trained Language Models for Social Event Detection). We first propose a new pairwise message modeling strategy to construct social messages into message pairs with multi-relational sequences. Secondly, a new multi-relational prompt-based pairwise message learning mechanism is proposed to learn more comprehensive message representation from message pairs with multi-relational prompts using PLMs. Thirdly, we design a new clustering constraint to optimize the encoding process by enhancing intra-cluster compactness and inter-cluster dispersion, making the message representation more distinguishable. We evaluate the RPLM on three real-world datasets, demonstrating that the RPLM model achieves state-of-the-art performance in offline, online, low-resource, and long-tail distribution scenarios for social event detection tasks. Copyright © 2024, The Authors. All rights reserved.

关键词： Risk assessment

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Yolov7-Tp: A Deep Convolutional Neural Network for Identifying Tea Buds and Their Plucking Points

SSRN

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SSRN 2023年

作者： Gui, Zhiyong Chen, Zhiwei Wang, Mengjie Chen, Jianneng Wu, Chuanyu Dong, Chunwang Li, Yang Key Laboratory of Tea Quality and Safety Control Ministry of Agriculture and Rural Affairs Tea Research Institute Chinese Academy of Agricultural Sciences Hangzhou310018 China Faculty of Mechanical Engineering & Automation Zhejiang Sci-Tech University Hangzhou310018 China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou310018 China Tea Research Institute Shandong Academy of Agricultural Sciences Jinan250100 China

To achieve intelligent tea plucking, it is essential to let the machine know the location of tea bud picking. A Yolov7-TP (Yolov7-Tea-bud and plucking point) model is proposed herein for identifying tea buds and their plucking points. Here, images of tea buds in actual tea plantations were collected and labeled to establish a dataset. Thereafter, the Yolov7-TP was trained, tested, optimized, and improved according to the test results. The specific improvements were as follows: a localization loss function of tea-bud plucking points, AW tea plucking-point (AWTP) loss, is proposed to replace the original object key point similarity loss function, which significantly improved the positioning accuracy of plucking points. The shuffle attention mechanism was introduced into the model to advance the detection performance of the model. To evaluate the accuracy of the model to predict tea plucking points, this study proposes a means tea plucking point similarity (MTPS). A new indicator for tea plucking-point evaluation is proposed, the mean tea plucking-point similarity (MTPS), which better reflects the accuracy of the model. Here, the precision, recall, mean Average Precision (Intersection over Union=0.5) (MAP@0.5), and MTPS of the proposed model reached 0.975, 0.884, 0.946, and 0.9835, respectively. The proposed model was observed to be more stable and accurate in a complex environment. This study provides technical solutions and optimization methods for intelligent precision plucking, application values for the acquisition of tea-bud plucking points, and reference values for the identification of key points for other objects. © 2023, The Authors. All rights reserved.

关键词： Object detection

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Proper solutions of polynomial equations

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IFAC Proceedings Volumes 1999年第2期32卷 1927-1932页

作者： V. Kučera P. Zagalak Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University Technická 2 166 27 Praha 6 Czech Republic Phone: (+420) 2 6605 2018. Fax: (+420) 2 688 4903. Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Phone: (+420) 2 6605 2367. Fax: (+420) 2 688 4554.

The linear equation AX + BY = C is studied, where A , B , and C are given polynomial matrices such that A −1 B is a strictly proper rational matrix. All polynomial matrix solution pairs X , Y such that YX −1 is a proper rational matrix are parametrized. The study is motivated by the polo placement techniques in the design of linear control systems.

关键词： Linear control systems pole assignment polynomial methods rational matrices transfer functions

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Hybrid Functional Electrical Stimulation and Robotic Assistance for Wrist Motion Training After Stroke: Preliminary Results

Hybrid Functional Electrical Stimulation and Robotic Assista...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Lucille Cazenave Aaron Yurkewich Chiara Höhler Thierry Keller Carmen Krewer Klaus Jahn Sandra Hirche Satoshi Endo Etienne Burdet AI for Healthcare Centre for Doctoral Training Imperial College London UK Bioengineering department Imperial College London UK Department of Mechatronics Engineering Ontario Tech University Oshawa Canada Research Department of Schoen Clinic Bad Aibling Bad Aibling Germany Chair of Human Movement Science Faculty of Sport and Health Science Technical University Munich Germany Tecnalia Research and Innovation San Sebastian Spain German Center for Vertigo and Balance Disorders Ludwig-Maximilians University of Munich Germany Chair of Information-oriented Control Technical University of Munich Germany

This work presents preliminary results of a clinical study with sub-acute stroke patients using a hybrid system for wrist rehabilitation. The patients trained their wrist flexion/extension motion through a target tracking task, where electrical stimulation and robotic torque assisted them proportionally to their tracking error. Five sub-acute stroke patients have completed the training for 3 sessions on separate days. The preliminary results show hybrid assistance improves tracking performance and motion smoothness in most participants. In each session, patients' tracking performances before and after training were evaluated in unassisted tracking trials, without assistance. Their unassisted performance was compared across sessions and the results suggest that moderately to severely impaired patients might benefit more from hybrid training with our system than mildly impaired patients. Subjective assessments from all sessions show that the patients found the use of the device very comfortable and the training enjoyable. More data is being collected and future work will aim at verifying these trends.

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Utility coupling promotes cooperation in multiplayer snowdrift games on interdependent simplicial networks

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The European Physical Journal Special Topics 2023年第4期233卷 831-842页

作者： Wang, Juan Guo, Shiqiang Xia, Chengyi Perc, Matjaž Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Tianjin University of Technology Tianjin People’s Republic of China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin People’s Republic of China School of Artificial Intelligence Tiangong University Tianjin People’s Republic of China Faculty of Natural Sciences and Mathematics University of Maribor Maribor Slovenia Alma Mater Europaea Maribor Slovenia Complexity Science Hub Vienna Vienna Austria Department of Physics Kyung Hee University Seoul Republic of Korea

Real-world social networks often contain not only one-to-one pairwise interactions, but also multi-person group interactions involving more than two individuals. To reveal the important role of such group interactions (i.e., higher order topology) for the evolution of cooperation, we here use interdependent simplicial network topologies, where the evolutionary interactions, governed by the snowdrift game, are thus explored beyond pairwise links. We also consider utility coupling between two network layers in an uncorrelated interdependence. Systematic Monte Carlo simulations lead us to two main conclusions. First, we find that the level of cooperation can be elevated by increasing the utility coupling value. And second, cooperation tends to decline when we increase the number of 2-simplex interactions. However, despite the later result, the overall cooperation level on both interdependent networks is still higher than that on any isolated network. We hope that these results will inspire future research on cooperation among unrelated individuals in higher order networks.

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LMIs and Polynomial Methods in control: Illustrative Examples

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IFAC Proceedings Volumes 2000年第31期33卷 219-224页

作者： Didier Henrion Michael Šebek Laboratoire d’Analyse et d’Architecture des Systèmes Centre National de la Recherche Scientifique 7 Avenue du Colonel Roche 31 077 Toulouse cedex 4 France. Institute of Information Theory and Automation Czech Academy of Sciences Pod vodárenskou věží 4 182 08 Prague 8 Czech Republic. Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Prague 6 Czech Republic.

Linear Matrix Inequalities (LMIs) are now widely used as a convenient tool for solving a significant number of control problems. Probably for historical reasons, LMIs have mainly been used conjointly with state-space methods. Several recent works however tend to prove that polynomial (or algebraic) methods, generally favored by teachers exposing the basics of control systems, can also rely on LMIs. With the help of simple illustrative examples, the purpose of this paper is to show how the simultaneous use of LMIs and polynomial methods can shed new insights into several important control problems. The readership can range from postgraduate students specializing in control systems to experts in LMIs or polynomial methods. The algorithms described in this paper will be part of the next version of the POLYNOMIAL TOOLBOX for MATLAB to be released soon, see *** .

关键词： Linear Systems Polynomial Methods Linear Matrix Inequalities

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