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Medical Imaging 2023: Physics of Medical Imaging

作者： Jo, Geonhui Jang, Minhee Jeon, Sun-Young Kim, Wonjin Choi, Jang-Hwan Department of Computer Science and Engineering Ewha Womans University Seoul03760 Korea Republic of Division of Mechanical and Biomedical Engineering Graduate Program in System Health Science and Engineering Ewha Womans University Seoul03760 Korea Republic of

ISBN: (纸本)9781510660311

Fluoroscopy in a low-dose tube output is used to reduce the damage associated with radiation exposure. However, lowering the radiation dose inevitably increases random noise in x-ray images, resulting in poor diagnostic image quality, which requires noise reduction for accurate diagnosis. Also, in the case of non-static objects, the image is blurred due to motion. The most-used denoiser with a recursive filter (RF) preserves details well when applied to temporal data, but it is vulnerable to motion blur. Existing convolutional neural network (CNN)-based algorithms with single-frame input cannot use the temporary context, and others with multi-frame input are good for motion detection but poor for detail preservation. Therefore, we propose a motion-level-aware denoising framework to combine the results of RF- and CNN-based algorithms depending on the pixel-wise magnitude of motion to complement each other. The data we use are fluoroscopy images taken in continuous time, and we aim at many-to-one so that one frame is denoised by considering sequential frames. Also, since both RF- and CNN-based algorithms used in our architecture are many-to-one methods, they can consider spatiotemporal information. In the multi-frame input, the difference in intensity of each pixel between frames is calculated to obtain a moving map. Depending on the factor value from the moving map, the final image is obtained by reflecting the outputs of the RF- and CNN-based algorithms. If the factor value is high, the pixel intensity of the final image is like the CNN-based output, which is good for motion detection, and vice versa, it more reflects the intensity of RF output, which is excellent in perceptual quality. Therefore, it prevents motion blur and does not over-smooth microdetails, such as bones and muscles. The results show that combining the two outputs together records higher peak signal-to-noise ratio (PSNR) and has better perceptual quality for diagnosis than using only one method. F

关键词： Deep learning

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Photonic structures in radiative cooling

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Light(Science & Applications) 2023年第7期12卷 1187-1215页

作者： Minjae Lee Gwansik Kim Yeongju Jung Kyung Rok Pyun Jinwoo Lee Byung-Wook Kim Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea Electronic Device Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea E-drive Materials Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea Department of Mechanical Robotics and Energy EngineeringDongguk University30 pildong-ro 1-gilJung-guSeoul 04620South Korea. Department of Civil Engineering and Engineering Mechanics Columbia UniversityNew YorkNY 10027USA. Institute of Advanced Machinery and Design(SNU-IAMD)/lnstitute of Engineering Research Seoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea

Radiative cooling is a passive cooling technology without any energy consumption,compared to conventional cooling technologies that require power sources and dump waste heat into the *** decades,many radiative cooling studies have been introduced but its applications are mostly restricted to nighttime use ***,the emergence of photonic technologies to achieves daytime radiative cooling overcome the performance *** example,broadband and selective emissions in mid-IR and high reflectance in the solar spectral range have already been *** review article discusses the fundamentals of thermodynamic heat transfer that motivates radiative *** photonic structures such as multilayer,periodical,random;derived from nature,and associated design procedures were thoroughly *** integration with new functionality significantly enhances the effciency of radiative cooling technologies such as colored,transparent,and switchable radiative cooling applications has been *** commercial applications such as reducing cooling loads in vehicles,increasing the power generation of solar cells,generating electricity,saving water,and personal thermal regulation are also ***,perspectives on radiative cooling and emerging issues with potential solution strategies are discussed.

关键词： radiative overcome transparent

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The development of a general purpose embedded board for driving the mobile robot supporting various communication and various sensors 26

The development of a general purpose embedded board for driv...

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26th International Conference on Electrical Machines and Systems, ICEMS 2023

作者： Kim, Jisu Ahn, Minsung Han, Jeakweon Hanyang University ERICA The Department of Interdisciplinary Robot Engineering Systems Ansan15588 Korea Republic of University of California The Department of Mechanical and Aerospace Engineering Los AngelesCA90095 United States Hanyang University ERICA Department of Robotics Ansan15588 Korea Republic of

ISBN: (纸本)9798350317589

The development of a mobile robot entails the utilization of diverse components such as motors, sensors, controllers, and communication systems. Integrating all these components can be a time-consuming and labor-intensive task. Typically, robot engineers need to search for motor drivers, sensors, and controllers individually and integrate them to develop a mobile robot. However, most motor drivers on the market are not specifically designed for mobile robots, and other platforms are not specialized for this purpose either. Therefore, this paper aims to facilitate the development of mobile robots by providing a general-purpose embedded board that supports various communication and sensor systems. © 2023 IEEE.

关键词： Mobile robots

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Effect of Overload and Underload on Subsequent Deformation Behavior during Cyclic Deformation

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Zairyo/Journal of the Society of Materials Science, Japan 2022年第2期71卷 159-166页

作者： Kondou, Ryouji Yama, Katsunari Energy and Environmental Program School of Engineering Faculty of Engineering University of the Ryukyus Nishihara-cho Nakagami-gun Okinawa903-0213 Japan Department of Mechanical Systems Engineering Graduate School of Engineering and Science University of the Ryukyus Nishihara-cho Nakagami-gun Okinawa903-0213 Japan

A multi-scale analysis of elasto-plastic deformation and dislocation movement and accumulation of tricrystalline models during cyclic deformation was performed. The accumulation of dislocations in geometrically necessary dislocations (GNDs) and statistically stored dislocations (SSDs) was investigated in detail. Experimental observations have shown that fatigue life and fatigue crack propagation are also deteriorated when the material is subjected to overload or underload. However, in the microscopic and mesoscopic regions, where the effects of the crack tip shape change are not related to the size of the crack tip, a different phenomenon is essentially occurring. In this paper, the effects of overload and underload are investigated using a simple model without a crack. From the analysis results, it was found that the dislocation structure generated in the material subjected to overload or underload affects the subsequent deformation behavior. However, even though the absolute values are the same, the effects of overloading and underloading on the subsequent deformation are different, and underloading increases the non-uniformity of the subsequent deformation, which is on the dangerous side, while overloading decreases with increasing the number of repetitions. ©2022 The Society of Materials Science, Japan

关键词： Crack tips

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Innovative Swing Mechanism for Sustainable Energy Generation: Design, Performance, and IoT Integration 6

Innovative Swing Mechanism for Sustainable Energy Generation...

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6th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2024

作者： Okwu, M.O. Abubakar, N. Edward, B.A. Oreko, B.U. Otanocha, O.B. Orikpete, O.F. Maware, C. Oyekale, J.O. Ori, C. Tartibu, L. Khalid, S. Department of Mechanical Engineering Federal University of Petroleum Resources Effurun Nigeria Computer Science Department Brunel University London UxbridgeUB8 3PH United Kingdom University of Port Harcourt Choba Nigeria Fujio Cho Engineering Technology University of Kentucky 210E Center for Robotics and Manufacturing Building United States 814-131 Wentworth Drive HalifaxNS Canada Department of Mechanical and Industrial Engineering Technology University of Johannesburg South Africa AJK Mirpur Pakistan

In this study, the choice of mild steel for the swing mechanism was essential due to its mechanical properties, strength, and environmental resistance. The swing system, incorporating a stand, swing, connecting rod, spur gear, bearings, freewheel, battery, dynamo, and sprocket, was designed for sustainable energy generation without compromising user safety. The design balanced ergonomic needs with performance characteristics, ensuring the structure could endure applied stresses. IoT integration allowed for advanced monitoring, enabling real-time data analysis, performance optimization, and issue detection. The study examined how swinging weight and oscillation frequency impacted the output voltage and current, findings showed that output voltage varied with the swinger's weight. The swing mechanism, capable of generating 6-8 volts, successfully converted kinetic energy into electrical energy. This study serves as a renewable energy education model with IoT integration, demonstrating innovative energy solutions for parks, schools, playgrounds, and communities. © 2024 The Authors. Published by Elsevier B.V.

关键词： energy generation IoT monitoring mechanical design Renewable Energy Swing mechanism

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A Novel Adaptive Actor-Critic Reinforcement Learning Controller for Constrained Robots 25

A Novel Adaptive Actor-Critic Reinforcement Learning Control...

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2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022

作者： Pantoja-Garcia, Luis Garcia-Rodriguez, Rodolfo Parra-Vega, Vicente Robotics and Advanced Manufacturing Department Coah Saltillo25900 Mexico Universidad Politecnica Metropolitana de Hidalgo Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering Tolcayuca43860 Mexico

ISBN: (纸本)9781665494083

Force-position control for robot manipulators has become a basic control regime for advanced applications such as interaction or cooperative tasks that imply contact to environment or external object. Thus, for many applications environmental information is evaluated continuously to generate adequate control actions to complete the task. There has been proposed techniques such as adaptive or intelligent control to cover some of these requirements, however it seems insufficient given the uncertainty involved when dealing with the environment. The emergence of deep learning has recently renewed interest in these tasks from the perspective of reinforcement learning algorithms. In this paper, an actor-critic scheme is proposed for simultaneous control of contact force and joint positions while moving along an environmental rigid surface. The critic stage evaluates information of the environment through an extended error manifold, trying to minimize the cumulative future rewards by a neural network. The actor stage, which receives environment information from the critic stage, is used to approximate inverse robot dynamics. Together with two continuous orthogonal sliding PID controllers gives rise to simultaneous tracking of position and force, with stability analysis. Numerical simulations show the performance of the proposed approach under several conditions. © 2022 IEEE.

关键词： Reinforcement learning

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A Simulative Investigation of PFI Methanol Engine & Future Scope of Coupling Methanol Fuel Reforming by Exhaust Gas Energy Recuperation with Post-oxidation Phenomena

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IFAC-PapersOnLine 2024年第29期58卷 64-69页

作者： Madan Kumar Bhawandeep Sharma Department of Mechanical Engineering (Robotics) Guangdong Technion - Israel Institute of Technology 241 Daxue Road Guangdong Shantou 515063 China

Undertaking a thorough investigation for decarbonizing transportation of the most recent technical advancements in the field of renewable fuel in spark ignition engines is the main goal of this cutting-edge research. In this research, a simulative investigation including model validation of the genset engine using a spark ignited powered by methanol port fuel injection was carried out. The GT-suite model was validated with a V-type 8-cylinder turbocharged and intercooler engine. Then the model was further used for the analysis of potential methanol fuel reforming by the heat recovery from exhaust energy that has recently emerged as a key research and supported by several industries due to their advantageous properties. A post-oxidation phenomenon mechanism was adopted to vary the exhaust pressure and temperature by tuning fuel injection and spark timing that can provide favorable conditions for the methanol-reforming. It should be noted that the optimal retarding of spark timing can benefit better heat recuperation for methanol to hydrogen reforming as it requires a temperature between 200-300°C to start the reaction. However, the key barrier of this technology is the suitable catalyst, optimal chemical reactivities, and combustion process environment need to be achieved. Specifically, in the future, the use of several alternative fuels will be closely examined as part of this comprehensive study that seeks to explore the complex dynamics of fuel reforming, engine efficiency, emissions cut, and overall performance that may fulfill the respective countries' decarbonization goals.

关键词： SI Engines Methanol Reforming Post-oxidation Phenomena Modeling and simulation Decarbonization

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Control Design for A Thin 3-DOF Dielectric Elastomer Actuator and Application

Control Design for A Thin 3-DOF Dielectric Elastomer Actuato...

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2023 International Conference on Advanced Mechatronic Systems, ICAMechS 2023

作者： Kadokawa, Masafumi Jiang, Changan Yu, Wei Osaka Institute of Technology Graduate School of Robotics & Design Osaka528-8648 Japan Osaka Institute of Technology Department of Robotics Osaka528-8648 Japan Hebei University of Technology School of Mechanical Engineering Tianjin300401 China

ISBN: (纸本)9798350307474

In this study, a device for writing letters is developed and designed using a thin dielectric elastomer actuator with three degrees of freedom. The 3-DOF thin dielectric elastomer actuator is capable of being driven in three directions (X, Y, and Z). Conventionally, the reserve elongation was adjusted with a weight, which is very inconvenient. A force-measured pre-stretch mechanism is developed to apply pre-stretch to the 3-DOF thin dielectric elastomer actuator. The pre-stretch mechanism with force measurement can easily apply pre-stretch and monitor it in real-time. The effectiveness of the device is verified through experiments on actual equipment, where a control system with feedback control is designed. © 2023 IEEE.

关键词： Feedback control

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Design of Fuzzy controller for position control of a magnetic catheter in uniform magnetic fields

Design of Fuzzy controller for position control of a magneti...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammadhossein Zahedi Bidgoli Mohammad Hatami Pouya Hossein Nejat Pishkenari Alireza Taheri Department of Mechanical Engineering Nano Robotics Laboratory Sharif University of Technology Tehran Iran Department of Mechanical Engineering Robotics Laboratory Sharif University of Technology Tehran Iran

Magnetic catheters have gained popularity as a safer and more precise alternative to manually guided catheters, reducing X-ray exposure for medical professionals. However, achieving precise control of the catheter’s tip remains a topic of debate. In this paper, we introduce a fuzzy controller designed to control the position of the magnetic catheter’s tip with high accuracy in a controlled environment with a uniform magnetic field and a feeder mechanism, providing a 3DOF setup. We implemented the fuzzy controller using a dynamic Cosserat model of the magnetic catheter and conducted simulations to assess its performance. To evaluate the closed-loop system, two trajectory paths, one following a cubic pattern and the other a helical pattern, were provided as desired inputs to the closed-loop system using the proposed controller. Additionally, Gaussian-distributed noise was added to the feedback loop of the system. The Root Mean Square Error (RMSE) values for a catheter with a variable free length ranging from 3 to 5 cm for these two input trajectories were 0.96 mm and 0.86 mm, respectively. The simulation results indicated that the presented control system has the capability to accurately track various trajectories with high precision.

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Exploring Neural Networks for Forward Kinematics of the Robotic Arm with Different Length Configurations: A Comparative Analysis 2

Exploring Neural Networks for Forward Kinematics of the Robo...

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2nd IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation, IATMSI 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassène Higher Institute of Information and Communication Technologies Tunis Borj Cedria1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India National Engineering School of Tunis Le Belvédère Tunis1002 Tunisia

ISBN: (纸本)9798350360523

Our work investigates the utilization of Artificial Neural Networks (ANNs) to address the complexities associated with Forward Kinematics (FK) problems within the field of robotics. We undertake an extensive comparative analysis to assess how ANNs perform under different circumstances with robotic arms of varying lengths and impact the overall system's functionality. The training, testing, and validation of ANNs are carried out using MATLAB for a simulated 2-DoF serial robotic arm involving three distinct datasets: fixed step size, random step size, and sinusoidal step size. Three training optimizers, namely Levenberg Marquardt (LM), Bayesian Regularization (BR), and Stochastic Conjugate Gradient (SCG), are considered within the ANN architecture. Based on Mean Square Error (MSE) values, the numerical findings reveal the potential of ANN in estimating forward kinematic solutions of complex robotic manipulators with different arm lengths and reducing computational complexity. © 2024 IEEE.

关键词： Robotic arms

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