检索结果-内蒙古大学图书馆

IEEE Conference on Decision and control

作者： Mihaela Ghita Dana Copot Isabela R. Birs Cristina I. Muresan Robin De Keyser Martine Neckebroek Michel M. R. F. Struys Clara M. Ionescu Department of Electromechanics Systems and Metal Engineering Faculty of Engineering and Architecture Ghent University Gent Belgium EEDT – lab on Decision and Control Flanders Make Gent Belgium Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Anesthesiology Ghent University Hospital Gent Belgium Department of Anesthesiology University Medical Center Groningen University of Groningen Groningen The Netherlands Department of Basic and Applied Medical Sciences Ghent University Gent Belgium

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

A novel control strategy is proposed to enable uncertainty minimization through knowledge infusion into the closed loop. The developed methodology aims the application of predictive control to regulate the complex anesthetic- hemodynamic (AH) interaction in a set of patients during general anesthesia. A special focus is given to solutions for minimizing the risk of instability arising from large uncertainty in the patient model dynamics. The paper explores the concept of digitalizing surgical actions as part of the natural mimicking strategy of actual anesthesiologists’ real-life decision-making process. The simulations supporting the claims use an AH simulator. A feasibility study for solutions in an actual constrained input-output variable set is performed. Results confirm that the feasibility is enhanced when minimizing uncertainty conditions, having important clinical relevance in multi-drug optimization.

关键词： Uncertainty Decision making Surgery Minimization Anesthesia Hemodynamics Optimization

来源：评论

学校读者我要写书评

暂无评论

Design of control for a serial robot with actuator failures

引用

UPB Scientific Bulletin, Series D: Mechanical engineering 2020年第2期82卷 19-34页

作者： Truc, Le Ngoc Quang, Nguyen Phung Faculty Hung Yen University of Technology and Education Viet Nam Institute for Control Engineering and Automation Hanoi University of Science and Technology Viet Nam

The paper addresses the actuator failure issue and aims to design a satisfactory control scheme for an n-DOF serial robot under actuator failures. The kind of actuator failures that is put into investigation in this study is the proportional degradation of actuator torque. A sliding mode controller using adaptive techniques is developed to deal with the faults. The switching gains of the proposed controller are alterable and can be suitably regulated to satisfy the Lyapunov criterion. The effectiveness of the proposal control law applied for a 6-DOF serial robot is shown through comparison with a conventional sliding mode controller. © 2020, Politechnica University of Bucharest. All rights reserved.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Stimulated-emission based model of fast radio bursts

arXiv

引用

arXiv 2020年

作者： Dogan, Mustafa Ekşi, Kazım Yavuz Istanbul Technical University Faculty of Electrical-Electronics Engineering Department of Control and Automation Engineering Istanbul34469 Turkey Istanbul Technical University Faculty of Science and Letters Physics Engineering Department Istanbul34469 Turkey

Fast radio bursts (FRBs) are bright, short-duration radio transients with very high brightness temperatures implying highly coherent emission. We suggest that the FRBs are caused by the self-focusing of an electron beam interacting with an ambient plasma right beyond the light cylinder radius of a neutron star. The magnetic field at the light cylinder radius is relatively high which can accommodate both young Crab-like systems and old millisecond pulsars addressing the diverse environments of FRBs. At the first stage, the intense pulsed-beam passing through the background plasma causes instabilities such that the trapped particles in local Buneman-type cavitons saturate the local field. The beam is then radially self-focused due to the circular electric field developed by the two-stream instability which leads to Weibel instability in the transverse direction. Finally, the non-linear saturation of the Weibel instability results in the self-modulational formation of solitons due to plasmoid instability. The resonant solitary waves are the breather-type solitons hosting relativistic particles with self-excited oscillations. The analytical solutions obtained for non-linear dispersion and solitons suggest that, near the current sheets, the relativistic bunches are accelerated/amplified by klystron-like structures due to self-excited oscillations by the induced local electric field. Boosted coherent radio emission propagates through a narrow cone with strong focusing due to radial electric field and magnetic pinching. The non-linear evolution of solitons and the stimulated emission are associated with the Buneman instability and the possibility of the presence of nanosecond shots in FRBs are investigated. Copyright © 2020, The Authors. All rights reserved.

关键词： Magnetic fields

来源：评论

学校读者我要写书评

暂无评论

Language-Conditioned Affordance-Pose Detection in 3D Point Clouds

arXiv

引用

arXiv 2023年

作者： Nguyen, Toan Vu, Minh Nhat Huang, Baoru Van Vo, Tuan Truong, Vy Le, Ngan Vo, Thieu Le, Bac Nguyen, Anh FPT Software AI Center Viet Nam Automation & Control Institute TU Wien Vienna Austria Imperial College London United Kingdom Department of Computer Science & Computer Engineering University of Arkansas United States Faculty of Mathematics and Statistics Ton Duc Thang University Ho Chi Minh City Viet Nam Department of Computer Science University of Science Viet Nam Department of Computer Science University of Liverpool United Kingdom

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding affordance task. Previous methods for affodance-pose joint learning are limited to a predefined set of affordances, thus limiting the adaptability of robots in real-world environments. In this paper, we propose a new method for language-conditioned affordance-pose joint learning in 3D point clouds. Given a 3D point cloud object, our method detects the affordance region and generates appropriate 6-DoF poses for any unconstrained affordance label. Our method consists of an open-vocabulary affordance detection branch and a language-guided diffusion model that generates 6-DoF poses based on the affordance text. We also introduce a new high-quality dataset for the task of language-driven affordance-pose joint learning. Intensive experimental results demonstrate that our proposed method works effectively on a wide range of open-vocabulary affordances and outperforms other baselines by a large margin. In addition, we illustrate the usefulness of our method in real-world robotic applications. Our code and dataset are publicly available at https://***. © 2023, CC BY-NC-SA.

关键词： Robotics

来源：评论

学校读者我要写书评

暂无评论

Reliability Analysis of Assembly Processes Performed by Human-Robot Interaction 3

Reliability Analysis of Assembly Processes Performed by Huma...

引用

3rd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2019

作者： Coban, Mustafa Kaymakci, Ozgur Turay Gelen, Gokhan Bursa Technical University Department of Mechatronics Engineering Bursa Turkey Yildiz Technical University Faculty of Electric Electronic Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9781728137896

Together with innovations in robot technologies and the emergence of the fourth industrial revolution called Industry 4.0, collaborative robot applications have improved. Collaborative robots are the robots that provide the safe handling of many processes such as assembly, pick and place, palletizing in factories. The reliability analysis of the system has great importance in order to determine the failure conditions and failure possibilities that will occur in the systems enabling these operations. In this study, reliability analysis of assembly processes performed by human-robot interaction is presented. The reliability block diagram of the system is created and the reliability value of the system over time is determined. Then, Markov model indicating the fault conditions in the system is created and the probability of occurrence of these fault conditions is determined. The results show that if the system operates continuously for five years, the reliability will drop below 10% and the reasons that decrease the reliability are discussed in the last section. © 2019 IEEE.

关键词： Industrial robots

来源：评论

学校读者我要写书评

暂无评论

Semidefinite programming for manipulating acoustic traps in real time (SMART)

引用

Scientific Reports 2025年第1期15卷 1-26页

作者： Zehnter, Sebastian Endres, Kevin Kronbichler, Martin Andrade, Marco A. B. Funke, Felix Ament, Christoph Chair of Control Engineering University of Augsburg Augsburg 86159 Germany Chair of High-Performance Scientific Computing University of Augsburg Augsburg 86159 Germany Faculty of Mathematics Ruhr University Bochum Bochum 44801 Germany Institute of Physics University of São Paulo São Paulo 05508-090 Brazil

Sound waves can be used for trapping and manipulating objects immersed in liquids or air. However, most acoustic levitation techniques are limited to particles with diameters much smaller than the acoustic wavelength or require time-consuming optimisation-based methods that hinder the dynamic manipulation of objects. Here, we present an approach based on semidefinite programming to manipulate levitated objects in real time. To demonstrate this technique, a phased array consisting of 256 ultrasonic transducers operating at 40 kHz is used for rotating a non-spherical Rayleigh object or to translate Mie spheres along various trajectories. In contrast to previous optimisation-based approaches, the proposed method can determine the emission phases of each transducer in real time, strongly facilitating the implementation of a model-based closed-loop control in future acoustic levitation systems. This is a fundamental step for manipulating levitated objects precisely and at high speeds. © The Author(s) 2025.

关键词： Acoustic levitation Acoustic traps Block-coordinate minimisation Burer–Monteiro method Contactless handling Phase recovery Phase retrieval problem Real time Semidefinite programming Sound pressure field

来源：评论

学校读者我要写书评

暂无评论

Optimal control of Automatic Manipulator for Elimination of Galvanic Line Load Oscillation

Periodica polytechnica Electrical engineering and computer s...

引用

Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 91-105页

作者： Autsou, Siarhei Rassõlkin, Anton Vaimann, Toomas Demidova, Galina Saroka, Viktor Karpovich, Dzmitry Kallaste, Ants Department of Automation of Production Processes and Electrical Engineering Faculty of Chemical Technology and Technique Belarussian State Technological University 13a Sverdlova str. Minsk220006 Belarus Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology 5 Ehitajate street Tallinn19086 Estonia Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia

This paper provides an analysis of the current state-of-The-Art technologies in the field of auto-operators used in production during the electroplating process. General schemes of operations are presented, benefits and drawbacks of each scheme are discussed. The paper discusses an increase in the operating efficiency of the auto-operator in transient conditions (braking and acceleration) by reducing suspension oscillations and provides an example of a similar problem from other industries. In addition to the classification of the auto-operators, three main ways and control methods of the auto-operator of a galvanic line are presented. The main ways of eliminating oscillations during the movement of the auto-operator, as well as the rationale for the choice of adaptive (optimal) control, based on and comparing the basic control algorithms of the robot manipulator, are discussed. The comparative analysis of algorithms used to determine the optimal control has been carried out. Application field of each optimal control method described, moreover advantages and disadvantages as well as implementation methods described. Bellman dynamic programming method was chosen to eliminate oscillations of the suspension with details during the auto-operator transient conditions, the chosen method takes into account all necessary conditions to achieve the desired result. © 2021 Budapest University of Technology and Economics. 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

Educational robotics with tangible programming: A digital circuit for blocks communication with code and visual feedback transfer capabilities

Educational robotics with tangible programming: A digital ci...

引用

IEEE Latin American Robotics Symposium, LARS

作者： Jessica Toledo Salles Cristiane Pelisolli Cabral Rosane Aragon Alexandre Da Silva Simões Postgraduate Program in Electrical Engineering São Paulo State University (Unesp) Institute of Science and Technology Sorocaba Brazil Postgraduate Program in Education Federal University of Rio Grande do Sul (UFRGS) Porto Alegre Brazil Faculty of Education (FACED) Federal University of Rio Grande do Sul (UFRGS) Porto Alegre Brazil Control and Automation Engineering Department (DECA) São Paulo State University (Unesp) Institute of Science and Technology Sorocaba Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

A large number of robotic kits is commercially available for children education nowadays. Regarding the programming possibilities of these kits, they are usually divided into three categories: i) textual languages based kits, ii) digital blocks based kits and iii) tangible blocks based kits. In tangible blocks kits, the programming instructions are represented by physical - touchable - elements like blocks, cards or buttons. Since these are concrete objects, they are usually more playful and accessible for young children mainly in the concrete operational stage. Another relevant aspect in robotic kits is the possibility for children to follow the code execution at runtime. This process may be crucial for comprehending the programming process and for developing debugging abilities. In tangible programming based kits, this visual tracking is far more complex than in textual or digital blocks based kits since it typically requires the transmission of information between a lot of distinct physical pieces. The present work proposes and discusses the implementation of a digital electronic circuit with bluetooth communication designed for educational robotics kit and capable to provide a visual feedback. Results demonstrate that the proposed circuit is functional and feasible for embedding in robotic kits at a low cost.

关键词： Visualization Codes Runtime Costs Education Debugging Robots

来源：评论

学校读者我要写书评

暂无评论

Model Transformation for Asset Administration Shells

Model Transformation for Asset Administration Shells

引用

Annual Conference of Industrial Electronics Society

作者： Torben Miny Michael Thies Ulrich Epple Christian Diedrich Chair of Process Control RWTH Aachen University Aachen Germany Institute for Automation Engineering (IFAT) Otto-von-Guericke Universitat Magdeburg Magdeburg Germany

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

In the scope of Industry 4.0 (I40), one goal is the standardized access to asset information and asset services using standardized submodels (submodel templates) in the Asset Administration Shell. Since submodel templates are modeled by different groups of people, the same asset information will be contained in several submodel templates. For automatic generation of new submodels based on existing information from other submodels, model transformation can be a solution. Therefore, in this contribution, we present a guideline on how to develop a new model transformation language for a given use case and apply this guideline to the concrete use case (model transformation for Asset Administration Shells). As a result, we define of the abstract syntax of a customized model transformation language called AASMTL.

关键词： Unified modeling language Object oriented modeling Syntactics Guidelines Semantics Tools Industries

来源：评论

学校读者我要写书评

暂无评论

Fast-dynamic-vision: Detection and tracking dynamic objects with event and depth sensing

arXiv

引用

arXiv 2021年

作者： He, Botao Li, Haojia Wu, Siyuan Wang, Dong Zhang, Zhiwei Dong, Qianli Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China Ningbo315000 China School of Automation Nanjing Institute of Technology Nanjing211112 China Faculty of Robot Science and Engineering Northeastern University Shenyang110207 China Faculty of Electronic and Information Engineering Xi’an Jiaotong University Xi’an710049 China

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs). The bottleneck of solving this problem is the accurate perception of rapid dynamic objects. Recently, event cameras have shown great potential in solving this problem. This paper presents a complete perception system including ego-motion compensation, object detection, and trajectory prediction for fast-moving dynamic objects with low latency and high precision. Firstly, we propose an accurate ego-motion compensation algorithm by considering both rotational and translational motion for more robust object detection. Then, for dynamic object detection, an event camera-based efficient regression algorithm is designed. Finally, we propose an optimization-based approach that asynchronously fuses event and depth cameras for trajectory prediction. Extensive real-world experiments and benchmarks are performed to validate our framework. Moreover, our code will be released to benefit related researches. © 2021, CC BY-NC-ND.

关键词： Object recognition

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：