检索结果-内蒙古大学图书馆

IEEE Conference on Decision and Control

作者： Jerzy Baranowski Waldemar Bauer Karolina Dukała Dorota Mozyrska Małgorzata Wyrwas Department of Automatic Control and Robotics AGH University of Science & Technology Kraków Poland SWPS University of Social Sciences and Humanities Katowice Poland Faculty of Computer Science Bialystok University of Technology Bialystok Poland

In this paper we propose a consensus model using fractional calculus, which is an emerging topic in multi-agent modeling. Fractional models have infinite memory and can be understood as a relatively simple extension of traditional calculus. We propose a model structure motivating it by psychological research. For such model we also provide a stability analysis allowing results on possibilities of consensus arising in the modelled group of agents. To achieve this, we use fractional difference equations, which illustrate our considerations for agent groups of increasing complexity.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Localization Fault Detection Method using 2D LiDAR and Fisheye Camera for an Autonomous Mobile Robot Control

Localization Fault Detection Method using 2D LiDAR and Fishe...

引用

SICE International Symposium on Control Systems (ISCS)

作者： Yoshimasa Nakamura Akinori Sasaki Yuichiro Toda Naoyuki Kubota Robotics Technology Group Tokyo Metropolitan Industrial Technology Research Institute Tokyo Japan Faculty of Environmental Life Natural Science and Technology Okayama University Okayama Japan Graduate School of Systems Design Tokyo Metropolitan University Tokyo Japan

Localization is an important function of autonomous mobile robots, and autonomous actions caused by incorrectly estimated robot posture may lead to major accidents. In this study, we propose a fault detection function of localization using 2D LiDAR and fisheye camera. The proposed fault detection method focuses on the likelihood to detect faults, which can be improved by suppressing the update of the particle filter based localization. We conducted several experiments in real environments to verify the effectiveness of our proposed method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

FlexDelta: A flexure-based fully decoupled parallel xyz positioning stage with long stroke

arXiv

引用

arXiv 2023年

作者： Zhang, Qianjun Dong, Wei Xu, Qingsong Goteea, Bimal J. Gao, Yongzhuo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150000 China Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Macau999078 China

Decoupled parallel xyz positioning stages with large stroke have been desired in high-speed and precise positioning fields. However, currently such stages are either short in stroke or unqualified in parasitic motion and coupling rate. This paper proposes a novel flexure-based decoupled parallel xyz positioning stage (FlexDelta) and conducts its conceptual design, modeling, and experimental study. Firstly, the working principle of FlexDelta is introduced, followed by its mechanism design with flexure. Secondly, the stiffness model of flexure is established via matrix-based Castigliano’s second theorem, and the influence of its lateral stiffness on the stiffness model of FlexDelta is comprehensively investigated and then optimally designed. Finally, experimental study was carried out based on the prototype fabricated. The results reveal that the positioning stage features centimeter-stroke in three axes, with coupling rate less than 0.53%, parasitic motion less than 1.72 mrad over full range. And its natural frequencies are 20.8 Hz, 20.8 Hz, and 22.4 Hz for x, y, and z axis respectively. Multi-axis path tracking tests were also carried out, which validates its dynamic performance with micrometer error. Copyright © 2023, The Authors. All rights reserved.

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

Micro Heater Design Procedure with Backside Etching for Medical Applications 48

Micro Heater Design Procedure with Backside Etching for Medi...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Tolba, Muhammad S. Fanni, Mohamed Nasser, Gamal A. Umezu, Shinjiro Fath El-Bab, Ahmed M. R. Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Helwan Univeristy Faculty of Engineering Mechanical Engineering Department Cairo Egypt Assuit University Mechatronics Engineering Assuit Egypt Waseda University School of Creative Science and Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The incorporation of micro-heaters in medical analysis devices significantly aided in the miniaturization of such devices and shortened the processing time. Despite the fact that various micro-heater designs have been proposed, a high-speed heating rate for micro-heaters remain a challenge. The reduction of thermal mass allows for this high-speed to be accomplished. Furthermore, backside etching of the substrate is critical in increasing the rate of temperature change in thin-film micro heaters. This will speed up the thermal cycle, paving the way for high-speed, portable, and cost-effective medical devices like the polymerase chain reaction (PCR). The size of the backside opening, on the other hand, should be carefully chosen to ensure the heater's rigidity. The larger the backside opening, the faster the thermal change and the lower the stiffness of the chip. An accurate simulation investigation was performed in this study using the CoventorWare software tool to obtain the optimal back side design for the designed micro heater in which the temperature change process is accelerated while the chip's strength is maintained. This study allows us to achieve a high-strength, high-speed micro-heater with superior efficiency. The heater's dimensions are designed to warm up a chip of size 30x40 mm in accordance with Peltier's chip size. For the provided heater dimensions, a series of squares with side lengths of 2.5 mm per square and a distance of 1 mm between each square was found to be the best design for the backside etching. It raises the heating rate to 22 °C/s and allows the heater to withstand pressure up to 1.8 MPa. © 2022 IEEE.

关键词： Polymerase chain reaction

来源：评论

学校读者我要写书评

暂无评论

Design, Fabrication, and Control of Micro-Heater Based on Joule Effect for Low-Cost Medical Device 48

Design, Fabrication, and Control of Micro-Heater Based on Jo...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Temperature control is vital in micro-heaters used in medical devices such as the polymerase chain reaction (PCR). The primary goal is to achieve tight control and a high rate of heating for a portable, low-cost medical device. Even though the fact that several designs for micro-heaters have been proposed, uniform temperature distribution and the high-speed heating rate remain challenging for micro-heaters. This high speed is achieved by the reduction of the thermal mass. The most common methods for reducing thermal mass or heating time in a device are to establish a highly desired structural design and to select a better heating mechanism with a robust controller. Increasing the thermal mass improves temperature distribution on the heater surface but slows heat transfer. On the other hand, removing the thermal mass makes the controller struggle to provide a high-temperature uniformity distribution on the micro-heater surface. In this study, we provide a design of a cost-effective, high-speed, thin-film micro-heater based on the Joule heating technique. The CoventorWare software tool is used to simulate the temperature distribution of the micro-heater. The heater provides a well-distributed temperature on the heated surface. When a DC voltage of 24 V was applied for 250 s, a maximum temperature of 272 °C was obtained. Besides, the heater's average heating rate is 15 °C/s. The heater is then fabricated with the micro-electromechanical systems (MEMS) technology on a silicon substrate. The transfer function of the heating system is computed. Two controllers are designed to control the temperature of the micro-heater and improve its response. The classical proportional-integral-derivative (PID) controller produces rise time (Tr) of 21.9 s, settling time (Ts) of 73.3 s, and a maximum overshoot (Mp) of 4.8 %. Then by applying a fractional-order proportional-integral-derivative (FOPID) controller, a great enhancement in the system performance is observed, the controller is

关键词： Thin films

来源：评论

学校读者我要写书评

暂无评论

A method for Generating a Digital Twin Structure for a System for Organizing Preventive Maintenance in the Electricity Sector

A method for Generating a Digital Twin Structure for a Syste...

引用

International Russian Smart Industry Conference (SmartIndustryCon)

作者： Vyacheslav Antonov Lyudmila Kromina Almira Fakhrullina Lyudmila Rodionova Faculty of Informatics and Robotics Ufa University of Science and Technology Ufa Russia Ufa Law Institute of the Ministry of Internal Affairs of the Russian Federation Ufa Russia

In order to detect equipment faults at an earlier stage, when the very beginning of fault development occurs, it is necessary to perform diagnostic inspections of equipment units. Diagnostic control includes both proactive and predictive maintenance. The article considers the improvement of energy saving control system of a production enterprise for effective implementation of energy saving policy. A model for control of energy saving management and energy efficiency improvement is developed. The article builds the abstract model of the neural network node of scheduling preventive maintenance, which can also be applied to automate other business processes in the electric power industry. A model of digital twin system of organization of preventive maintenance in the electric power industry, which will make it possible to analyze the criticality of the equipment. This analysis is based on assessing the impact of each individual piece of equipment on business results, which will ensure that the impact on safety; on the environment; on product quality; on suppliers; on the process.

关键词： Industries Schedules Analytical models Software Digital twins Power systems Safety

来源：评论

学校读者我要写书评

暂无评论

NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification

arXiv

引用

arXiv 2023年

作者： Zhang, Chuhan Pan, Wei Della Santina, Cosimo Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Delft Netherlands Department of Computer Science The University of Manchester Manchester United Kingdom

Motor imagery, an important category in electroencephalogram (EEG) research, often intersects with scenarios demanding low energy consumption, such as portable medical devices and isolated environment operations. Traditional deep learning algorithms, despite their effectiveness, are characterized by significant computational demands accompanied by high energy usage. As an alternative, spiking neural networks (SNNs), inspired by the biological functions of the brain, emerge as a promising energy-efficient solution. However, SNNs typically exhibit lower accuracy than their counterpart convolutional neural networks (CNNs). Although attention mechanisms successfully increase network accuracy by focusing on relevant features, their integration in the SNN framework remains an open question. In this work, we combine the SNN and the attention mechanisms for the EEG classification, aiming to improve precision and reduce energy consumption. To this end, we first propose a Non-iterative Leaky Integrate-and-Fire (NiLIF) neuron model, overcoming the gradient issues in traditional Spiking Neural Networks (SNNs) that use Iterative LIF neurons for long time steps. Then, we introduce the sequence-based attention mechanisms to refine the feature map. We evaluated the proposed Non-iterative SNN with Attention (NiSNN-A) model on two motor imagery EEG datasets, OpenBMI and BCIC IV 2a. Experiment results demonstrate that 1) our model outperforms other SNN models by achieving higher accuracy, 2) our model increases energy efficiency compared to the counterpart CNN models (i.e., by 2.13 times) while maintaining comparable accuracy. Copyright © 2023, The Authors. All rights reserved.

关键词： Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Selection of relevant mode of thin and soft parts measurements on machines with multisensor possibility 23

Selection of relevant mode of thin and soft parts measuremen...

引用

23rd International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2023

作者： Harmatys, Wiktor Gaska, Adam Gaska, Piotr Gruza, Maciej Marxer, Michael Cracow University of Technology Faculty of Mechanical Engineering Laboratory of Coordinate Metrology al. Jana Pawla II 37 Cracow31-864 Poland Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology al. Mickiewicza 30 Krakow30-059 Poland Eastern Switzerland University of Applied Sciences Institute for Production Metrology Materials and Optics Werdenbergstrasse 4 SG BuchsCH-9471 Switzerland

ISBN: (纸本)9781998999132

This paper presents measurements of thin and soft parts that are easily deformable under contact force related to tactile measurement. Few types of such elements, widely used in practice, were chosen and measured on multisensor CMM using low force tactile probe, video probe and chromatic white light sensor. Measurement procedure included aligning of the workpiece based on points measured using different sensors and performing measurements according to multiple-measurement strategy method. Values of repeatability determined for measurement results from different sensors were compared. Differences in obtained repeatability values are significant. Discussion of aftermaths related to use of various types of sensors is also included in the paper. © 2023 Euspen Headquarters.

关键词： Probes

来源：评论

学校读者我要写书评

暂无评论

Distance-based Formation-Motion Control for Unicycle Agents

Distance-based Formation-Motion Control for Unicycle Agents

引用

American Control Conference (ACC)

作者： Jin Chen Bayu Jayawardhana Hector Garcia de Marina Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen The Netherlands Department of Computer Engineer Automation and Robotics and With CITIC The University of Granada Spain

We present a distance-based distributed formation-motion control law for unicycle agents that are required to move together at a constant reference speed. The distributed control law consists of the standard distance-based formation gradient control law, which is projected to the longitudinal and angular velocity inputs of the unicycle, and of a linear term that depends on the reference speed. The main contribution of this paper is to realize the consistency of unicycle agents’ orientations without orientation measurement, thereby reducing the possibility of significant orientation measurement errors in real-world applications. We prove and show numerically the local exponential convergence of the unicycle agents to the desired formation, where they eventually move in unison at a constant reference speed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only

arXiv

引用

arXiv 2023年

作者： Chen, Jin Jayawardhana, Bayu de Marina, Hector Garcia The Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Netherlands Department of Computer Engineer Automation and Robotics CITIC The University of Granada Spain

Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed formation control where each agent can only control distances or bearings with its neighbors. We firstly develop a rigidity theory with heterogeneous sensing to ensure that the desired shape is well-posed. Secondly, we propose an iterative method that allows us to scale up the number of agents with heterogeneous sensing. Finally, numerical simulations show the effectiveness of our method. © 2023, CC BY.

关键词： Iterative methods

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：