检索结果-内蒙古大学图书馆

2025 International Conference on Computing, Networking and Communications, ICNC 2025

作者： Voicu, Razvan Cristian Frischmann, Amanda Tanveer, Muhammad Hassan Moghadam, Amir Ali Amiri Tello, Yannique Oprea-Ilies, Gabriela Chang, Yusun Kennesaw State University Department of Robotics & Mechatronics Engineering AtlantaGA United States Emory University School of Medicine Windship Cancer Institute AtlantaGA United States

ISBN: (纸本)9798331520960

The surge in interconnected applications, particularly in AI, IoT, and intelligent infrastructure, imposes new demands on communication networks, requiring them to handle high data volumes, support real-time exchanges, and dynamically adapt to fluctuating conditions. Traditional networking models, reliant on centralized processing and static protocols, are insufficient to meet these evolving needs, resulting in inefficiencies, latency, and scalability issues. This paper introduces a biologically inspired networking paradigm that mimics neurobiological principles such as event-driven communication, distributed intelligence, and adaptive resource management. By conceptualizing data types as analogous to neurotransmitters and infrastructure learning as synaptic plasticity, the framework provides a dynamic, scalable solution that enhances efficiency and resilience. The proposed model is particularly suited for resource-constrained environments, dynamically optimizing resource allocation and communication pathways in real time. Simulations demonstrate significant improvements in latency, resource utilization, scalability, and reliability, proving its potential as a foundation for next-generation networks. © 2025 IEEE.

关键词： Resource allocation

来源：评论

学校读者我要写书评

暂无评论

Differences in the resting-state functional brain networks of patients with major depressive disorder and bipolar disorder 7

Differences in the resting-state functional brain networks o...

引用

7th Scientific School: Dynamics of Complex Networks and their Applications, DCNA 2023

作者： Khorev, Vladimir Kurkin, Semen A. Paunova, Rositsa Stoyanov, Drozdstoy Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Immanuel Kant Baltic Federal University Baltic Center for Artificial Intelligence and Neurotechnology Kaliningrad Russia Samara State Medical University Neurosciences Research Institute Samara Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350305746

In this work, we analyzed the functional connectivity between different groups of subjects. The groups included patients with major depressive disorder, and patients with bipolar depression that were obtained during experimental research. The data that had been subjected to preprocessing procedures were employed in order to identify the functional connectivity between the brain regions that displayed significant variations. © 2023 IEEE.

关键词： Brain

来源：评论

学校读者我要写书评

暂无评论

Control System Calibration Algorithm for Exoskeleton Under the Individual Specificities of the Operator 2nd

Control System Calibration Algorithm for Exoskeleton Under t...

引用

2nd International Conference on Modern Problems of robotics, MPoR 2020

作者： Gradetsky, V.G. Ermolov, I.L. Knyazkov, M.M. Semenov, E.A. Sukhanov, A.N. Laboratory of Robotics and Mechatronics Ishlinsky Institute for Problems in Mechanics RAS 119526 Prospect Vernadskogo 101-1 Moscow Russia

ISBN: (纸本)9783030884574

Control approaches for the most modern exoskeleton devices are based on the use of the potentiometric proportional sensors. This allows setting the velocity of the movement of the exoskeleton links, but has significant peculiarities, which are concluded in a large time delay for processing the control signal and increased sensitivity of such sensors, which leads to increased injury risk during control. The use of muscle biopotentials for control of an exoskeleton device also makes it possible to take into account the physiological characteristics of the operator for using the exoskeleton in various areas of human activity. The development of control algorithms of the exoskeleton, along with the use of the activity of human muscle groups’ data, is essential for expanding the functionality of a human-machine system such as the "operator-exoskeleton". The paper considers the interaction of a human and an exoskeleton drive based on mathematical models of a DC motor with a current feedback loop and a muscle duplex. A calibration algorithm is proposed to determine the parameters of the muscle duplex model in order to form a database that corresponds to an individual operator and reflects its individual characteristics. The technique for setting the parameters of the control system in the exoskeleton calibration mode is given. Paper presents the results of experiments with the developed algorithm on full-scale stand, simulating the arm exoskeleton with the electric drive, located in the elbow joint and controlling algorithms based on the electromyogram of the biceps brachii and triceps brachii of the operator. The structure and features of the stand developed in the laboratory of robotics and mechatronics of IPMech RAS are shown. A comparative characteristic of the control quality of the electric drive, which is part of the exoskeleton, with the proposed algorithm in relation to one operator when changing by another one was worked out. At the same time, the following contr

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

3D-Printed Modified Pinch Valve for Controlling Pneumatic Artificial Muscles

3D-Printed Modified Pinch Valve for Controlling Pneumatic Ar...

引用

Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Mohamed Gaber David Branson Ian Ashcroft Khaled Goher Department of Mechanical Material and Manufacturing Engineering University of Nottingham Nottingham UK Mechatronics and Industrial Robotics Minia Egypt Mechanical and Industrial Engineering Sultan Qaboos University Oman

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

Soft robotics is a rapidly growing fields in the past decade. Despite its compliant nature and low weight, which is suitable for human interaction applications, still suffering from the low-speed actuation compared to the rigid actuators. In this paper, a 3D printed modified pinch valve is presented to control a pneumatic artificial muscle. This valve can provide high flow rate which can increase the pneumatic muscles actuation speed. 3D printed artificial muscle is used to validate the controllability of the valve. The muscle frequency increased from 0.1 Hz to reach 3.5 Hz. A chain of five muscles is controlled and reach 1.5 Hz.

关键词： Artificial muscles Three-dimensional displays Automation Wearable robots Muscles Soft robotics Valves

来源：评论

学校读者我要写书评

暂无评论

Rationale for the Applicability of the PULSE Data Transfer Protocol for Use in Predictive Diagnostic Systems for Complex Technical Equipment

Rationale for the Applicability of the PULSE Data Transfer P...

引用

International Russian Smart Industry Conference (SmartIndustryCon)

作者： Alexander Alexeev Roman Polyakov Vladimir Chernychev LLC RT-Development Tomsk Russian Federation Department of Mechatronics Mechanics and Robotics Orel State University named after I.S. Turgenev Orel Russian Federation

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

The article considers modern tasks of collecting and interpreting data on the state of technical equipment, prospects for integrating various types of sensors and protocols into a single information network within the framework of the Internet of Things (IoT) and Industrial Internet of Things (IIoT) technologies, as well as features of using predictive analytics methods to ensure operating regulations based on the actual state. The key technical difficulties associated with differences in polling speed, data volumes and protocol incompatibility are presented. The developed Pulse protocol and the Signalogic platform are described, providing efficient data processing, process automation and the ability to create a digital layer of the enterprise. The results of comparative tests of the performance of the Pulse protocol with MQTT are presented, demonstrating its superiority in signal processing speed. Examples of successful application of the developed solutions in industry are considered, including control systems for mining and processing equipment, as well as hazardous waste disposal. Particular attention is paid to the potential of predictive analytics in IoT and IIoT for predicting malfunctions, optimizing production processes and increasing equipment reliability. The paper describes the prospects for using machine learning technologies, real-time data analysis, and virtual stands for developing and testing systems. The paper highlights the importance of an interdisciplinary approach for the further development of IoT integration technologies that combine analytical, UX design, and engineering solutions.

关键词： Industries Protocols Automation Process control Production Machine learning Signal processing Reliability Predictive analytics Industrial Internet of Things

来源：评论

学校读者我要写书评

暂无评论

Singularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum

TechRxiv

引用

TechRxiv 2023年

作者： Rousso, Patrick Chhabra, Robin Autonomous Space Robotics and Mechatronics Laboratory Carleton University OttawaONK1S 5B6 Canada

We address the end-effector full-pose tracking control problem in free-floating space manipulators, experiencing constant non-zero linear and angular momentum. The aim is to develop an output-tracking (workspace) control law free of singularities due to parameterizing the end-effector motion and being robust against singularities of the input-output decoupling matrix (generalized Jacobian matrix). Space manipulators are modelled as open-chain multi-body systems with single- and multidegree-of-freedom joints, whose kinematics and dynamics are formulated on the Special Euclidean group SE(3). Such systems exhibit conserved (not necessarily zero) total momentum when operating in the free-floating regime, which we use to systematically reduce their dynamical equations by eliminating the base spacecraft’s motion. To avoid parameterizing the end-effector motion, we consider its full pose as the system output and develop a novel feedback linearization technique on the matrix Lie group SE(3) in the reduced phase space of the space manipulator. We then propose an intrinsic feedforward, feedback proportional-integral-derivative workspace controller involving a coordinate-free pose error function on SE(3) and velocity error on its Lie algebra. Using a Lyapunov candidate, this controller is proven to stabilize the end-effector pose to a feasible desired trajectory. The input-output decoupling matrix in the proposed control law can lose rank at some regions of the configuration space;hence, we implement a singularity-robust inverse, derived from the damped least squares method, to avoid impractical joint torques in these regions. The developed controller is implemented on a 7-degree-of-freedom manipulator onboard a spacecraft and its efficacy and robustness are demonstrated trough series of simulations. © 2023, CC BY-NC-SA.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand

Learning Purely Tactile In-Hand Manipulation with a Torque-C...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Leon Sievers Johannes Pitz Berthold Bä uml Institute of Robotics and Mechatronics German Aerospace Center (DLR) and the Deggendorf Institute of Technology Germany

We show that a purely tactile dextrous in-hand manipulation task with continuous regrasping, requiring permanent force closure, can be learned from scratch and executed robustly on a torque-controlled humanoid robotic hand. The task is rotating a cube without dropping it, but in contrast to OpenAI's seminal cube manipulation task [1], the palm faces downwards and no cameras but only the hand's position and torque sensing are used. Although the task seems simple, it combines for the first time all the challenges in execution as well as learning that are important for using in-hand manipulation in real-world applications. We efficiently train in a precisely modeled and identified rigid body simulation with off-policy deep reinforcement learning, significantly sped up by a domain adapted curriculum, leading to a moderate 600 CPU hours of training time. The resulting policy is robustly transferred to the real humanoid DLR Hand-II, e.g., reaching more than 46 full $2\pi$ rotations of the cube in a single run and allowing for disturbances like different cube sizes, hand orientation, or pulling a finger.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Advancement in Smart Cane Technology: Enhancing Mobility for the Visually Impaired Using ROS and LiDAR

Advancement in Smart Cane Technology: Enhancing Mobility for...

引用

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Saqib Zafar Hafiz Farhan Maqbool Naveed Ahmad Arham Ali Abdul Moeizz Faizan Ali Juri Taborri Stefano Rossi Department of Economics Engineering Society and Business Organization University of Tuscia Viterbo VT Italy Department of Mechanical Mechatronics and Manufacturing Engineering University of Engineering and Technology Lahore (Faisalabad Campus) Pakistan Human-Centred Robotics Lab National Center of Robotics and Automation Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A *, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance.

关键词： Simultaneous localization and mapping Laser radar Navigation Operating systems Decision making Visual impairment Wheels Real-time systems Path planning robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Robotic Device for Active-Passive Mechanotherapy of the Ankle Joint

Robotic Device for Active-Passive Mechanotherapy of the Ankl...

引用

International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Jamil Safarov Egor Tistsov Sergey Jatsun Dept. of Chemical and Metallurgical engineering Azerbaijan Technical University Baki Azerbaijan Dept. of Mechanics Mechatronics and Robotics South-West State University Kursk Russia

ISBN: (数字)9798350395013

ISBN: (纸本)9798350395020

This paper describes the design and control system of a robotic device for active-passive mechanotherapy of the ankle joint. The paper raises the question of the importance of these developments in modern rehabilitation, provides examples of work in this area, and also indicates the difficulties in organizing a control system for such a device, due to the spasticity and musculoskeletal contracture of the ankle joint, as well as the general uncertainty and individuality of the muscular system of the ankle joint during rehabilitation. The paper describes the design of the device, the location of the measuring modules, and the operating principle of the adaptive control system for this device. Data obtained during experimental studies are also presented and the influence of various factors during rehabilitation procedures on the behavior of the musculoskeletal system is described. This paper describes the mathematical modeling of the behavior of this system, and indicators of the stiffness and viscosity of the musculoskeletal system are derived, allowing the adaptation of device control algorithms.

关键词： Viscosity Uncertainty Muscles Control systems Mathematical models Physiology Trajectory

来源：评论

学校读者我要写书评

暂无评论

Hardware and software of a 3D printed humanoid hand

Hardware and software of a 3D printed humanoid hand

引用

International Scientific Conference Electronics (ET)

作者： Valentin Nikolov Ivaylo Georgiev Ivan Chavdarov Institute of Robotics Bulgarian Academy of Sciences Sofia Bulgaria Sensata Technologies Sofia Bulgaria Department of Mechatronics Robotics and Mechanics Faculty of Mathematics and Informatics University of Sofia "St. Kliment Ohridski" Sofia Bulgaria

Creating low-cost and completely functional humanoid hand that meets individual needs and applications in prosthetics or robotics is still a challenge. This paper presents the development of an innovative 3D printed humanoid hand with modular fingers. This approach makes it possible to reduce the cost by taking advantage of the creation of complex shapes and individual sizes of the fingers. The software and hardware implementation of the modules is described. A control system has been designed that allows adjustment and control of the positions of fingers of different sizes and joint constraints. A 3D printed prototype is created. The hardware and software are tested. Main functional capabilities of the hand are studied.

关键词：

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：