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IEEE Latin American Robotics Symposium, LARS

作者： Héber Renato Fadel de Morais João Paulo Lima Silva de Almeida Lúcia Valéria Ramos de Arruda Graduate Program in Electrical Engineering and Industrial Informatics (CPGEI) Federal University of Technology - Paraná Curitiba Brazil Federal Institute of Paraná Jacarezinho Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

This paper develops a system based on cyber-physical concepts to support robots in tasks that require cooperative work and information sharing. The work's inspiration is the need of the 4.0 industry for cobots visiting different workstations to assist human workers, for tools and raw material transportation, and other tasks. As in any industrial environment, unexpected events may occur, and the cobots must face them, reducing their effects on the production line. In this work, multiple robots (MR) managed by a system with cyber-physical (CP) features cooperate in an experimental dynamic environment to safely accomplish several tasks. For this, the robots must visit targets (analogous to workstations) in an orderly way, while one support robot must deal with oil stains on the environment's floor detected along the robots' navigation (unexpected event). The proposed CP-MR system is evaluated through experimental results allowing a performance analysis.

关键词： Visualization Service robots Federated learning Information sharing Robot sensing systems Workstations Multi-robot systems

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Single-cell transcriptomics uncovers EGFR signaling-mediated gastric progenitor cell differentiation in stomach homeostasis (vol 14, 3750, 2023)

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NATURE COMMUNICATIONS 2023年第1期14卷 1-16页

作者： Takada, Hitomi Sasagawa, Yohei Yoshimura, Mika Tanaka, Kaori Iwayama, Yoshimi Hayashi, Tetsutaro Isomura-Matoba, Ayako Nikaido, Itoshi Kurisaki, Akira Laboratory of Stem Cell Technologies Graduate School of Science and Technology Nara Institute of Science and Technology Takayama-cho Ikoma Nara Japan Laboratory for Bioinformatics Research RIKEN Center for Biosystems Dynamics Research Wako Saitama Japan Department of Functional Genome Informatics Biological Data Science Medical Research Institute Tokyo Medical and Dental University Bunkyo Tokyo Japan Master’s/Doctoral Program in Life Science Innovation (Bioinformatics) Degree Programs in Systems and Information Engineering Graduate School of Science and Technology University of Tsukuba Tsukuba Ibaraki Japan

Defects in gastric progenitor cell differentiation are associated with various gastric disorders, including atrophic gastritis, intestinal metaplasia, and gastric cancer. However, the mechanisms underlying the multilineage differentiation of gastric progenitor cells during healthy homeostasis remain poorly understood. Here, using a single-cell RNA sequencing method, Quartz-Seq2, we analyzed the gene expression dynamics of progenitor cell differentiation toward pit cell, neck cell, and parietal cell lineages in healthy adult mouse corpus tissues. Enrichment analysis of pseudotime-dependent genes and a gastric organoid assay revealed that EGFR-ERK signaling promotes pit cell differentiation, whereas NF-κB signaling maintains gastric progenitor cells in an undifferentiated state. In addition, pharmacological inhibition of EGFR in vivo resulted in a decreased number of pit cells. Although activation of EGFR signaling in gastric progenitor cells has been suggested as one of the major inducers of gastric cancers, our findings unexpectedly identified that EGFR signaling exerts a differentiation-promoting function, not a mitogenic function, in normal gastric homeostasis.

关键词： Adult stem cells Stem-cell differentiation Stem-cell niche

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Success Factors of the Blockchain Adoption for Smart Manufacture

Success Factors of the Blockchain Adoption for Smart Manufac...

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2018 International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2018

作者： Surjandy Fernando, Erick Meyliana Kosala, Raymond Warnars, Harco Leslie Hendric Spits Abdurachman, Edi Supangkat, Suhono Harso Computer Science Department BINUS Graduate Program - Doctor of Computer Science Information Systems Audit Program Information Systems Department School of Information Systems Bina Nusantara University Jakarta11480 Indonesia Information Systems Department School of Information Systems Bina Nusantara University Jakarta11480 Indonesia School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia

ISBN: (纸本)9781538674222

Currently, the discussion about smart city becomes a trend topic in which the development of the Internet of Thing (IoT) is used in various sectors including in the manufacturing sector where the Indonesian government is intensively increasing the capacity and production quality. The use of IoT in both smart manufacture and smart city become an interesting thing topic for research and the combination of the new technology Blockchain, may proof the reliability of data. Trust, transparent, secure, real time online process as a new phenomenon to merge IoT with Blockchain technology into smart manufacturing technology. However, for maintaining quality and sustainability, required technology governance so the achievement of implementation can be done well. This research uses the method called Systematic Literature Review (SLR) find the Blockchain adoption factors for Smart Manufacturing Technology Governance and the research conducted on several reputable publications. The result found, there are 35 adoption success factors found from the adoption of blockchain technology into smart manufacture industry. The influence of the technology governance process in smart manufacture industry increase sustainability, realtime and accurate decision making for the industry. © 2018 IEEE.

关键词： Manufacture

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Association of Fine Motor Loss and Allodynia in Fibromyalgia: An fNIRS Study (vol 50, pg 664, 2017)

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JOURNAL OF MOTOR BEHAVIOR 2018年第6期50卷 X-X页

作者： Eken, A. Gokcay, D. Yilmas, C. Baskak, B. Baltaci, A. Kara, M. Biomedical Engineering Department Düzce University Düzce Turkey Medical Informatics Department Informatics Institute Middle East Technical University Ankara Turkey Neuroscience Graduate Program Bilkent University Ankara Turkey Department of Psychiatry Ankara University Faculty of Medicine Ankara Turkey Ankara University Brain Research Center Ankara Turkey Department of Physical and Rehabilitation Medicine Yenimahalle Research Hospital Yıldırım Beyazıt University Ankara Turkey Department of Physical and Rehabilitation Medicine Hacettepe University Medical School Ankara Turkey

Recent studies showed that fine motor control dysfunction was observed in fibromyalgia (FM) syndrome as well as allodynia. However, brain signatures of this association still remain unclear. In this study, finger tapping task (FTT) and median nerve stimulation (MNS) were applied to both hands of 15 FM patients and healthy controls (HC) to understand this relationship. Hemodynamic activity was measured simultaneously using functional near-infrared spectroscopy (fNIRS). Experiments were analyzed separately by using 2x2 repeated measures ANOVA. Results for the FTT experiment revealed that HC showed higher activity than FM patients in bilateral superior parietal gyrus (SPG), left supramarginal gyrus (SMG) and right somatosensory cortex (SI). Furthermore, right-hand FTT resulted in higher activity than left-hand FTT in left SPG, left SI and right motor cortex (MI). In the MNS experiment, FM patients showed higher activity than HC in bilateral SPG, right SMG, right SI and right middle frontal gyrus (MFG). Negative correlation was observed in left SPG between FTT and MNS activities. Besides, MNS activity in left SPG was negatively correlated with left-hand pain *** study revealed that left SPG might be an important indicator to associate fine motor loss and allodynia in FM.

关键词： fNIRS Fibromyalgia Fine Motor Loss

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Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot

Microphone-accelerometer based 3D posture estimation for a h...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Y. Bando K. Itoyama M. Konyo S. Tadokoro K. Nakadai K. Yoshii H. G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science Tohoku University Miyagi Japan Graduate School of Information Science and Engineering Honda Research Institute Japan Co. Ltd. Saitama Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

3D posture estimation for a hose-shaped robot is critical in rescue activities due to complex physical environments. Conventional sound-based posture estimation assumes rather flat physical environments and focuses only on 2D, resulting in poor performance in real world environments with rubble. This paper presents novel 3D posture estimation by exploiting microphones and accelerometers. The idea of our method is to compensate the lack of posture information obtained by sound-based time-difference-of arrival (TDOA) with the tilt information obtained from accelerometers. This compensation is formulated as a nonlinear state-space model and solved by the unscented Kalman filter. Experiments are conducted by using a 3m hose-shaped robot with eight units of a microphone and an accelerometer and seven units of a loudspeaker and a vibration motor deployed in a simple 3D structure. Experimental results demonstrate that our method reduces the errors of initial states to about 20 cm in the 3D space. If the initial errors of initial states are less than 20 %, our method can estimate the correct 3D posture in real-time.

关键词： Microphones Accelerometers Loudspeakers Estimation Robot sensing systems Three-dimensional displays

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Personnel System Development with Integrated Military Education Information System (MEIS) in Supporting the Personnel Position and Career 7

Personnel System Development with Integrated Military Educat...

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7th International Conference on ICT for Smart Society, ICISS 2020

作者： Setyaningrum, Leli Supangkat, Suhono H. Warnars, Harco Leslie Hendric Spits Abraham, Juneman Abdurachman, Edi Bina Nusantara University Doctorate Program of Computer Science Jakata Barat11530 Indonesia Institut Teknologi Bandung School of Electrical Engineering and Informatics Bandung40132 Indonesia Nusantara University Graduate Program Doctor of Computer Science Bina Computer Science Department BINUS Jakarta11530 Indonesia Bina Nusantara University BINUS Faculty of Humanities Psychology Department Jakarta11480 Indonesia

ISBN: (纸本)9781665404228

Personnel and education data very important for organizations, including the military. All data related to military personnel will give effect positions and careers in the military field. The integration of personnel and education data can assist in processing and decision making. An analysis is needed so that the developed system can be useful for the long term. Analysis with IT balanced scorecard and COBIT® 2019, will be able to help and fill the gaps in the existing system based on the objectives of the military organization itself. It is shown that the domains BAI05 (Managed Organizational Change) and DSS02 (Managed Service Requests and Incidents) are still not being implemented well. The system developed will have the features and capabilities to support the organization in achieving its goals, including in the field of staffing and education. Besides, it provides convenience in making decisions in terms of positions related to personnel careers. © 2020 IEEE.

关键词： Decision making

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Estimating the 3D center point of an object with Kinect sensor RGB-D images

Estimating the 3D center point of an object with Kinect sens...

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IEEE Latin American Robotics Symposium, LARS

作者： Gustavo Fardo Armênio João Alberto Fabro Renzo De Rosa Tognella Felipe Pierre Conter Marlon Vaz De Oliveira Everson De Souza Silva Computer Engineering Course - UTFPR Curitiba PR Brazil PPGCA-Graduate Program on Applied Informatics UTFPR-Federal University of Technology - Paraná Curitiba PR Brazil Information System Course - UTFPR Curitiba PR Brazil UNILA - University of Latin American Integration Foz do Iguaçu PR Brazil CPGEI-Graduate Program on Electrical Engineering and Industrial Informatics/UTFPR IFPR- Federal Institute of Technology - Paraná Pinhais PR Brazil PPGCA-Graduate Program on Applied Informatics UTFPR Curitiba Brazil

This article describes the estimation of a 3D point using a Kinect sensor and the Robot Operating System (ROS) along with You Only Look Once (YOLO) for object detection. The Kinect sensor provides RGB-D images, which are used to create a Point Cloud representing the geometry of the environment. ROS is used as a robotics development framework, while YOLO is employed to identify objects in the scene. The article presents the packages used, the datasets used for measurement, and the configuration of ROS and YOLO. Additionally, the functionalities of RViz, a 3D visualization tool used in the tests, are explored. Furthermore, it covers the methods employed, the acquired data, and an analysis of the error margin in relation to the measurement of the distance between the Kinect and the object. The findings and techniques presented in this study contribute to addressing the challenges faced in the RoboCup@Home competition, specifically in the context of object manipulation tasks.

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Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array

Human-voice enhancement based on online RPCA for a hose-shap...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Yoshiaki Bando Katsutoshi Itoyama Masashi Konyo Satoshi Tadokoro Kazuhiro Nakadai Kazuyoshi Yoshii Hiroshi G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science Honda Research Institute Japan Co. Ltd Miyagi Japan Graduate School of Information Science and Engineering Tokyo Institute of Technology Saitama Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR.

关键词： Rescue robots Microphone arrays Matrix decomposition Radio frequency Mobile robots

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Numerical analysis of the harmonics influence on linear interpolation for Power Quality assessment

Numerical analysis of the harmonics influence on linear inte...

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International Conference on Harmonics and Quality of Power

作者： Cesar David Paredes Crovato Leonardo Bandeira Soares Sergio Bampi Electrical Engineering Graduate Program-PPGEE Feevale University Unisinos University Novo Hamburgo/Sao Lepoldo Brazil Microelectronics Graduate Program-PGMicro-Informatics Federal University of Rio Grande do Sul-UFRGS Porto Alegre Brazil

This paper presents a numerical analysis to determine the minimum sampling frequency for which a linear interpolation of AC Power signals can be reliably used in the digital domain, regarding the harmonics influence for Power Quality (PQ) assessment. The proposed approach of this paper is based on exhaustive simulations which take into account a large combination of distinct values for module and phase of the third and fifth harmonic components at a given range of sampling frequencies. Our results show that the linear interpolation produces spectrum module errors up to 33.38% for a sampling frequency of 250/32 kHz, while the module percentage error is up to 2.08% at 250/4 kHz. The main contribution of this work is to best determine the minimum sampling frequency that can be used, considering the presence of harmonics components, which makes the linear interpolation an efficient technique for PQ assessment. A minimum sampling frequency turns out to be advantageous for the digital signal processing performance and cost.

关键词： Harmonic analysis Interpolation IEC standards Power system harmonics Power quality Electromagnetic compatibility

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The Influence of Overcharging and Over-Discharging on the Capacity Degradation of Lithium-Ion Batteries

The Influence of Overcharging and Over-Discharging on the Ca...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Joelton Deonei Gotz Marco Antonio Simões Teixeira Fernanda Cristina Corrêa Emilson Ribeiro Viana Alceu André Badin Milton Borsato Graduate Program in Electrical and Computer Engineering Federal Technological University of Paraná (UTFPR-CT) Curitiba Brazil Graduate Program in Informatics (PPGIa) Pontifical Catholic University of Paraná (PUC-PR) Curitiba Brazil Graduate Program in Electrical Engineering Federal Technological University of Paraná (UTFPR-PG) Ponta Grossa Brazil Physics Department Graduate Program in Physics and Astronomy Federal Technological University of Paraná (UTFPR-CT) Curitiba Brazil Graduate Program in Mechanical Engineering Federal Technological University of Paraná (UTFPR-CT) Curitiba Brazil

ISBN: (数字)9798331541606

ISBN: (纸本)9798331541613

Lithium-ion batteries (LIB) are the best technology for supplying and storing energy for electric mobility systems. Despite that, this technology is sensitive to abuses that can compromise its lifetime and cause fire and explosion risks. In this context, if LIB is not correctly controlled, some abuses, such as overcharging (OC) and over-discharging (OD), can be observed and provoke a loss of capacity. Therefore, this work presented the application of several experiments in cells, of the NMC type, under OC and the combination of OC and OD. The results indicated that cells charged until 4.4 and 4.5 V and discharged until 3.0 V do not lose capacity for twenty-five cycles, but more cycles should be done to understand the impact over time. On the other side, the cell charged until 4.6 and 4.8 V had its security protection romped in the fourth charging cycle, and the cell charged until 5.0 V had its safety compromised in the first charging cycle. Conversely, cells with a combination of OC and OD were more compromised. In this context, while a cell is submitted only with OC and does not lose capacity, a cell under OC and then under OD had its protection romped in the third charging cycle. Cells under 4.6 V and 4.8 V lost capacity during the second charging cycle. In conclusion, OC provokes a high level of degradation in the cell, but the combination of OC and OD causes even more degradation.

关键词： Degradation Lithium-ion batteries Battery management systems Propulsion Security Reliability Protection Stress Monitoring Predictive maintenance

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