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19th Chinese intelligent Systems Conference, CISC 2023

作者： Zhang, Qinglong Gao, Guanbin Liu, Fei Xing, Yashan Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming University of Science and Technology Kunming650500 China

ISBN: (纸本)9789819968855

Kinematic calibration is crucial for enhancing the accuracy of robots. However, in production environments, limited space often hinders the deployment of measurement instruments. To address this challenge and improve robot calibration accuracy, a novel approach combining optimization algorithms and reference linkages is proposed. This method tackles issues such as small variations in calibration data and poor generalization. By integrating a reference linkage at the end flange, the diversity of the robot’s joint angles is increased. An observability optimization algorithm is utilized to select the optimal measurement configurations, resulting in calibration data with improved observability. Through simulations conducted in both confined and large spaces, the effectiveness of the proposed method in enhancing calibration performance is verified. The results show that this method significantly improves the observability of calibration data in confined space, and enhances the accuracy and generalization capability of robot calibration. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Observability

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Parameters Extraction of Photovoltaic Cell Using Particle Swarm Optimization 4th

Parameters Extraction of Photovoltaic Cell Using Particle Sw...

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4th International Conference on Electronic engineering and Renewable Energy Systems, ICEERE 2024

作者： Chermite, Charaf Douiri, Moulay Rachid Elamri, Oumaymah Control and Computer Science for Intelligent Systems and Green Energy Department of Applied Physics Faculty of Science and Technology Cadi Ayyad University Marrakech Morocco LAMIGEP EMSI of Marrakech Systems and Applications Engineering Laboratory National School of Applied Sciences Cadi Ayyad University Marrakech Marrakesh Morocco

ISBN: (纸本)9789819799749

Extracting parameters accurately and effectively from solar photovoltaic (PV) models is crucial for detailed simulation, evaluation, and management of PV systems. Although there has been an increase in the development of analytical, numerical, and metaheuristic methods targeting this task, accurately determining these parameters continues to be a significant challenge. This study focuses on applying Particle Swarm Optimization (PSO) for the extraction of key parameters of RTC France solar cells, a critical step towards enhancing PV system efficiency and reliability. Additionally, the PSO's performance is evaluated against other metaheuristic algorithms including Enhanced Chaotic JAYA (CJAYA), Performance-Guided JAYA (PGJAYA), and Enhanced Gradient-Based Optimizer (EGBO), underscoring the effectiveness of the proposed PSO-based approach. Utilizing MATLAB-SIMULINK, comprehensive analysis and results are presented, shedding light on the efficacy of PSO in addressing the intricacies of parameter extraction in PV systems. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Particle swarm optimization (PSO)

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A Smooth Trajectory Planning for High Tibial Osteotomy Surgery with Robot-assisted Based on NURBS and S-curve Method 13

A Smooth Trajectory Planning for High Tibial Osteotomy Surge...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Li, Yuan Gao, Guanbin Bao, Yi Chen, Xinkai Guo, Xinyang Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming650500 China Yunnan Key Laboratory of Intelligent Control and Application Kunming650500 China The First People's Hospital of Yunnan Province Kunming650034 China

ISBN: (纸本)9798350361674

Compared to conventional freehand procedures, robot-assisted surgery is more efficient and minimally invasive. The planning procedures decide the quality of robot-assisted surgery. However, the traditional polynomial function method and spline method can lead the robot to oscillate when executing the trajectory for puncture or location. To generate a smooth and steady trajectory to improve the quality of robot-assisted surgery, this paper proposes a trajectory planning method for the planning of puncture points in High Tibial Osteotomy (HTO). First, the coordinates of puncture points are obtained by creating a computer-aided design (CAD) model of the leg bone with the osteotomy plate. Then, the non-uniform rational B-spine (NURBS)method is applied to generate a smooth trajectory for puncture points. The S-curve method is used to plan the velocity and acceleration. Finally, simulations are conducted to verify the correctness and effect of the proposed method, which show that the proposed method can improve the trajectory of surgery in terms of smoothness and jerk reduction. © 2024 IEEE.

关键词： Robotic surgery

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In-depth analysis of core-shell filaments in nonvolatile NbO_(x) memristive device as an artificial synapse for multifunctional bionic applications

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science China(Technological sciences) 2023年第12期66卷 3596-3603页

作者： JIANG Bei KE ShanWu TAO ZiPei JIN YaoYao MENG JiaHao SONG XingJuan XIAO YongYue JIANG Li WANG JinZhao CHEN Yong LI YueBin WEN Xin YE Cong School of Microelectronics Key Laboratory of Intelligent Sensing System and SecurityMinistry of EducationHubei UniversityWuhan 430062China Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and TechnologyWuhan 430074China School of Science Hubei University of TechnologyWuhan 430068China Faculty of Chemical Technology and Engineering West Pomeranian University of Technology in SzczecinSzczecin 71-065Poland

As a key building block of the biological cortex,synapses are powerful information processing units that enable highly complex nonlinear *** realization of artificial synapses with similar capabilities has important implications for building intelligent,neuromorphic ***,we demonstrate an artificial synapse based on NbO_(x) nonvolatile memristor to mimic multifunctional bionic applications such as nociceptor and associative *** experimental characterization with COMSOL simulation,the traditional resistance switching characteristics,which are the decisive factor for the synapse properties are in-depth *** can be proposed that the I-V characteristics of Pt/NbO_(x)/TiN memristor are governed by core-shell filaments consisting of the shell region of sub-stoichiometric Nb_(2)O_(5-δ)and the core of NbO_(2).On the basis of the core-shell filament model,it can be reasonably explained that Ohmic conduction and Poole-Frenkel conduction take turns to dominate the current flowing in the memristive device,leading to the zigzag evolution of current during the operation process of NbO_(x)-based *** simulations of synaptic plasticity,including long-term potentiation/depression(LTP/LTD),paired-pulse facilitation(PPF),and spike-timing-dependent plasticity(STDP),exhibiting that the NbO_(x) can be utilized for an artificial ***,bionic functions such as hyperalgesia and allodynia of a nociceptor and a series of associative learning behaviors in Pavlovian dog experiment are mimicked,illustrating that the Pt/NbO_(x)/TiN have great potential for highly simplified artificial neural network applications.

关键词： memristor core-shell filament synaptic plasticity nociceptor associative learning

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Adaptive Neural Tracking control for Nonlinear Servo System with Unknown Time-Varying Parameters and Uncertainties 42

Adaptive Neural Tracking Control for Nonlinear Servo System ...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Faxiang Gao, Guanbin Na, Jing Wu, Jiande Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming650500 China Yunnan University Yunnan Key Laboratory of Intelligent Systems and Computing Kunming650500 China

ISBN: (纸本)9789887581543

This paper solves the neural network (NN) tracking control problem for uncertain nonlinear servo system with time-varying parameters and uncertainties. To address the uncertain nonlinear function with unknown time-varying parameters (i.e., unknown nonlinear spatiotemporal function), the time-varying parameter extraction method is used to separate the time-varying parameters from uncertain nonlinear spatiotemporal function, which yields an unknown state-based boundary function. By the tools of NN and adaptive technology, an adaptive neural tracking controller is designed, which guarantees the uniformly ultimately bounded (UUB) performance of the resulting closed-loop system. The effectiveness of the designed method is verified by simulations. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Servomechanisms

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Data secure transmission intelligent prediction algorithm for mobile industrial IoT networks

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Digital Communications and Networks 2023年第2期9卷 400-410页

作者： Lingwei Xu Hao Yin Hong Jia Wenzhong Lin Xinpeng Zhou Yong Fu Xu Yu Department of Information Science and Technology Qingdao University of Science and TechnologyQingdao266061China Fujian Key Laboratory of Sensing and Computing for Smart Cities Xiamen UniversityXiamen361005China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control(Minjiang University) Fuzhou350121China Faculty of Information Science and Engineering Ocean University of ChinaQingdao266100China Shandong Provincial Key Laboratory of Computer Networks Shandong Computer Science Center(National Supercomputer Center in Jinan)JinanChina

Mobile Industrial Internet of Things(IIoT)applications have achieved the explosive growth in recent *** mobile IIoT has flourished and become the backbone of the industry,laying a solid foundation for the interconnection of all *** variety of application scenarios has brought serious challenges to mobile IIoT networks,which face complex and changeable communication *** data secure transmission is critical for mobile IIoT *** paper investigates the data secure transmission performance prediction of mobile IIoT *** cut down computational complexity,we propose a data secure transmission scheme employing Transmit Antenna Selection(TAS).The novel secrecy performance expressions are first ***,to realize real-time secrecy analysis,we design an improved Convolutional Neural Network(CNN)model,and propose an intelligent data secure transmission performance prediction *** mobile signals,the important features may be removed by the pooling *** will lead to negative effects on the secrecy performance prediction.A novel nine-layer improved CNN model is *** of the input and output layers,it removes the pooling layer and contains six convolution ***,Back-Propagation(BP)and LeNet methods are employed to compare with the proposed *** simulation analysis,good prediction accuracy is achieved by the CNN *** prediction accuracy obtains a 59%increase.

关键词： Mobile IIoT networks Data secure transmission Performance analysis intelligent prediction Improved CNN

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Improving Motor Imagery Classification in BCI Systems Using EMD and Multi-Layer CNNs 14

Improving Motor Imagery Classification in BCI Systems Using ...

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14th International Conference on Computer and Knowledge engineering, ICCKE 2024

作者： Arghand, Reza Chaibakhsh, Ali Radman, Moein University of Guilan Intelligent Systems and Advanced Control Lab Faculty of Mechanical Engineering Rasht Guilan41996-13776 Iran University of Essex Brain-Computer Interfacing and Neural Engineering Laboratory School of Computer Science and Electronic Engineering ColchesterCO4 3SQ United Kingdom

ISBN: (纸本)9798331511272

Brain-Computer Interface (BCI) systems are relatively new technologies that could play a significant role in aiding the recovery of impaired activities resulting from neuromuscular disabilities in affected individuals. Accurate recognition and classification of motor imagery in BCI systems present a challenge, leading to extensive research in recent years aimed at improving the accuracy of these systems. In this study, a combination of the Empirical Mode Decomposition (EMD) method and a multi-layer Convolutional Neural Network (CNN) is employed. Initially, the signal is decomposed into Intrinsic Mode Functions (IMFs) using EMD, and all IMFs across all trials are analyzed to select the best ones, which are then fed into the CNN as inputs. Additionally, the study incorporates the fusion of three CNN networks, each corresponding to a different IMF. The features extracted from these networks are combined and used to train an SVM classifier. The proposed method achieved an accuracy of 86.1% on the BCI-2a 2008 dataset, outperforming other state-of-the-art approaches. ©2024 IEEE.

关键词： Brain computer interface

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Finite-time robust performance improvement for non-linear systems in the presence of input non-linearity and external disturbance

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IET control Theory and Applications 2023年第6期17卷 672-682页

作者： Wang, Haoping Ghaffari, Valiollah Mobayen, Saleh Bartoszewicz, Andrzej Fekih, Afef Assawinchaichote, Wudhichai School of Automation Nanjing University of Science and Technology Nanjing China Department of Electrical Engineering Persian Gulf University Bushehr Iran Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Yunlin Douliou Taiwan Institute of Automatic Control Lodz University of Technology Lodz Poland Department of Electrical and Computer Engineering University of Louisiana at Lafayette LafayetteLA United States Department of Electronic and Telecommunication Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

The main focus of this research is on improving the performance of dynamic systems with actuator non-linearities and time-varying disturbances. To this end, using the concept of finite-time stability, a novel observer is presented to estimate the disturbances in systems with input non-linearities. Then, introducing an innovative sliding manifold, a robust observer-based technique is derived to guarantee the finite-time stability of the sliding surface. Hence, the closed-loop system would be stable in the presence of hard non-linearities and time-varying disturbances. The performance of the proposed approach was assessed in using a simulation study of two numerical examples. The obtained results and comparison with a conventional method confirmed the benefits of the suggested approach. © 2022 The Authors. IET control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Closed loop systems

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Formation of One-Dimensional van der Waals Heterostructures via Self-Assembly of Blue Phosphorene Nanoribbons to Carbon Nanotubes

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Acta Mechanica Solida Sinica 2022年第6期35卷 913-921页

作者： Yang Sun Kun Zhou Ruijie Wang Zhuhua Zhang Chun Tang Wanlin Guo Faculty of Civil Engineering and Mechanics Jiangsu UniversityZhenjiang212013China Key Laboratory for Intelligent Nano Materials and Devices of Ministry of Education State Key Laboratory of Mechanics and Control of Mechanical StructuresInstitute for Frontier ScienceNanjing University of Aeronautics and AstronauticsNanjing210016China

Van der Waals heterostructures composed of low-dimensional atomic layers host rich physics for new device applications,such as magic-angle twisted bilayer graphene and coaxial multi-walled *** from exploring their abnormal physical behavior,fabrication of such structures also presents a great challenge to this area,owing to the subtle and sensitive interactions among neighboring *** we show by molecular dynamics simulations that narrow blue phosphorene nanoribbons can be encapsulated into carbon nanotubes driven by van der Waals interactions and form one-dimensional *** shows that by varying carbon nanotube diameters and nanoribbon width,the nanoribbons can either retain their original straight structures or twist into tubular *** phases are also observed for large-sized blue *** is found that the underlying mechanism originates from the competition between van der Waals energy and bending energy induced by tube curvature.A phase diagram of the resultant 1D structure is thus obtained based on a simple analysis of *** results are expected to stimulate further experimental efforts in fabricating one-dimensional van der Waals heterostructues with desired functionality.

关键词： Carbon nanotube Blue phosphorous Self-assemble Phase diagram

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface 1

Optical Evanescent Field for Direct Observation of Sub-100nm...

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1st International Conference on Robotics, engineering, science, and Technology, RESTCON 2024

作者： Khajornrungruang, Panart Permpatdechakul, Thitipat Suzuki, Keisuke Blattler, Aran Terayama, Yutaka Goto, Daiki Phaisalpanumas, Pipat Bun-Athuek, Natthaphon Phunopas, Amornphun Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Division Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Fukuoka Japan Kyushu Institute of Technology Iizuka-Shi Mechanical Information Science and Technology Division Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Production and Robotics Engineering Bangkok Thailand Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Course Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Industiral Engineering Bangkok Thailand King Mongkut's University of Technology North Bangkok Bangsue College of Industrial Technology Dept. of Mechanical Engineering Technology Bangkok Thailand

ISBN: (纸本)9798350348842

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes. © 2024 IEEE.

关键词： Visualization

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