High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabeti...
High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabetic patients. The resonance frequencies of the proposed sensor are measured to be around [Formula: see text] GHz and [Formula: see text] GHz over the frequency band of DC to 6GHz which are suitable for monitoring interstitial fluid (ISF) changing rate. The [Formula: see text] sensor is experimentally wrapped on the human body arm to monitor the blood glucose changing rate via amplitude and frequency variations of the sensor. Amplitude variation and frequency shift are measured to be around 7 dB and 30 MHz, respectively. The measured results demonstrate the high precision of the proposed approach to depict a valid diagram for glucose changing rate due to good impedance matching of the designed microwave sensor and human body. The sensor is shown to enhance the sensitivity by a factor of 5 compared to the conventional ones.
Bilinear models provide rich representations compared with linear models. They have been applied in various visual tasks, such as object recognition, segmentation, and visual question-answering, to get state-of-the-ar...
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In the industrial field, assembling parts using robot arm requires force information. Some robot arms with torque sensors are commercially available, but they are difficult to use for industrial applications due to du...
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In the industrial field, assembling parts using robot arm requires force information. Some robot arms with torque sensors are commercially available, but they are difficult to use for industrial applications due to durability problems. In addition, mounting a torque sensor on the robot arm increases manufacturing costs and complicates the structure. In this study, we apply Sliding Perturbation Observer (SPO) to 7-axis robot manipulator and estimate reaction force without using torque sensor in simulation. From the estimated perturbation, it can be determined whether the end effector of the robot manipulator will crash part of the assembly.
The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Pertu...
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ISBN:
(纸本)9781509015740;9781509015733
The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Perturbation Observer (SPO) was developed to overcome the chattering phenomenon which is a weak point of the sliding mode control. This control method can be applied to the control of underwater vehicle operating in strong environmental disturbances because it has the advantage of estimating and compensating for nonlinear components, modeling uncertainties and environmental disturbances of the system. In this study, the sliding mode control with sliding perturbation observer (SMCSPO) is simulated in an underwater vehicle to evaluate the disturbance compensation performance and compare it with a PID controller.
The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, we...
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ISBN:
(纸本)9781467390583
The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate assembly force without force sensor in robotics Lab simulation. From estimated perturbation, we can decide whether the end-effector of robot arm crashes the assembly part of not. If the absolute value of perturbation of most axes is sharply increasing case, it can be assumed that the end-effector of robot manipulator and assembling parts collide into each other.
To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for ...
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ISBN:
(纸本)9781509020669
To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for reducing scratches. In the flying touch method, the uniformity of coil can be debased due to variation of reaction force between rollers and steel plate. Therefore, the robust control algorithm and force estimation method is needed to apply flying touch method to hot rolling process. This paper introduces sliding mode control with sliding perturbation observer (SMCSPO) in flying touch hot rolling process. This paper also survey the effect of improved smoothen curve trajectory for realizing the flying touch and velocity synchronization on rolling mills' roller to reduce a scratch due to a friction force caused by the velocity desynchronization.
This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal pa...
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Scratch defects is occur due to impact drop and friction between the roller and slab in the conventional hot rolling method. The Flying Touch method is one of the proposed methods to improve the scratch defects. Flyin...
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Scratch defects is occur due to impact drop and friction between the roller and slab in the conventional hot rolling method. The Flying Touch method is one of the proposed methods to improve the scratch defects. Flying Touch method is available to soft touch between the rollers and the slab. Because roller is unfixed and flexible. And Flying Touch method is proposed synchronization of the rollers' angular velocity and the slab's surface velocity. In this paper, a simulator was designed to apply and verify the Flying Touch method. After, the actual implementation was velocity synchronization of Flying Touch method in the designed simulator. Performance of scratch reduction evaluated comparative experiment to velocity de-synchronization and velocity synchronization of Flying Touch method.
In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust obser...
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An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is...
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