To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arr...
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(纸本)9780955529337
To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arranged in appropriate place as agonist and the torsion spring provides opposing torque as antagonist in the proposed actuator. The I-DOF and 2-DOF rehabilitation robotic arm models are derived considering the PM-TS dynamic model. To realize a high-accurate trajectory tracking control of the robotic arms, an intelligent PID controller based on an Echo State Neural Network (ESN) is proposed, where the ESN state is updated by the online Recursive Least Square (RLS) algorithm. Simulation results demonstrate the validity of PM-TS actuators. The performance of RLS-ESN based PID controller is found more satisfactory than conventional PID controller in our study.
Memristor has received significant attentions since Strukov et al released their invention on April 30, 2008 at Nature Letters. Based on the model of Strukov et al, analytic expression of the internal state is obtaine...
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In this paper, we want to strengthen an autonomous vehicle’s lane-change ability with limited lane changes performed by the autonomous system. In other words, our task is bootstrapping the predictability of lane-chan...
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Artificial immune systems (AIS) are a kind of new computational intelligence methods which draw inspiration from the human immune system. In this study, we introduce an AIS-based optimization algorithm, called clona...
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Artificial immune systems (AIS) are a kind of new computational intelligence methods which draw inspiration from the human immune system. In this study, we introduce an AIS-based optimization algorithm, called clonal selection algorithm, to solve the multi-user detection problem in code-division multipleaccess communications system based on the maximum-likelihood decision rule. Through proportional cloning, hypermutation, clonal selection and clonal death, the new method performs a greedy search which reproduces individuals and selects their improved maturated progenies after the affinity maturation process. Theoretical analysis indicates that the clonal selection algorithm is suitable for solving the multi-user detection problem. Computer simulations show that the proposed approach outperforms some other approaches including two genetic algorithm-based detectors and the matched filters detector, and has the ability to find the most likely combinations.
In the industrial production environment, the scarcity of defect samples and the high labor cost of labeling defect samples make supervised machine learning models difficult to implement. In addition, defect detection...
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In industrial production processes, defect inspection plays an important role in reducing the occurrence of failures and improving production efficiency. Data-driven algorithms represented by deep learning have made g...
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Active magnetic bearing (AMB) rotor system is widely applied in the industry for its remarkable advantages. However, it is a typical open-loop unstable mechatronics system suffering from nonlinear and couple character...
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There are many multi-objective planning problems in emergency decision-making domain. HTN planners were widely used in emergency decision-making, while they have limited ability to solve optimization, especially multi...
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Stroke and heart attack,which could be led by a kind of cerebrovascular and cardiovascular disease named as atherosclerosis,would seriously cause human morbidity and *** is important for the early stage diagnosis and ...
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Stroke and heart attack,which could be led by a kind of cerebrovascular and cardiovascular disease named as atherosclerosis,would seriously cause human morbidity and *** is important for the early stage diagnosis and monitoring medical intervention of the *** stenosis is a classical atherosclerotic lesion with vessel wall narrowing down and accumulating plaques *** carotid artery of intima-media thickness(IMT)is a key indicator to the *** the development of computer assisted diagnosis technology,the imaging techniques,segmentation algorithms,measurement methods,and evaluation tools have made considerable *** imaging,being real-time,economic,reliable,and safe,now seems to become a standard in vascular assessment methodology especially for the measurement of *** review firstly attempts to discuss the clinical relevance of measurements in clinical practice at first,and then followed by the challenges that one has to face when approaching the segmentation of ultrasound ***,the commonly used methods for the IMT segmentation and measurement are ***,discussion and evaluation of different segmentation techniques are *** overview of summary and future perspectives is given finally.
Knowledge is one of the most important elements in production and the first resource in enterprise. By introducing knowledge to decision making, this paper presents a kind of know1edge decision- making model (KDM for ...
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Knowledge is one of the most important elements in production and the first resource in enterprise. By introducing knowledge to decision making, this paper presents a kind of know1edge decision- making model (KDM for short) based on generalized computing.
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