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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ali Srour Salvatore Marcellini Tommaso Belvedere Marco Cognetti Antonio Franchi Paolo Robuffo Giordano CNRS Univ Rennes Inria IRISA Rennes Cedex France Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse CNRS UPS Toulouse France LAAS-CNRS Robotics and Mechatronics Department Electrical Engineering Mathematics Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this work, we provide an experimental vali-dation of the recent concepts of closed-loop state and input sensitivity in the context of robust flight control for a quadrotor (UAV) equipped with the popular PX4 1 1 https://***/ controller. Our objective is to experimentally assess how the optimization of the reference trajectory w.r.t. these sensitivity metrics can improve the closed-loop system performance against model uncertainties commonly affecting the quadrotor systems. To accomplish this, we present a series of experiments designed to validate our optimization approach on two distinct trajectories, with the primary aim of assessing its precision in guiding the quadrotor through the center of a window at relatively high speeds. This approach provides some interesting insights for increasing the closed-loop robustness of the robot state and inputs against physical parametric uncertainties that may degrade the system's performance.

关键词： Uncertainty Sensitivity Target tracking Trajectory planning Perturbation methods Autonomous aerial vehicles Robustness

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Expeditious Diagnosis of Cerebral Aneurysm on MR Brain Angiogram Images Utilizing Soft Computing Techniques

Expeditious Diagnosis of Cerebral Aneurysm on MR Brain Angio...

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International Conference on Inventive Computation Technologies (ICICT)

作者： Anjaneya L. H K. Maheswari N. Revathi Siva. K. P Manzoore Elahi M. Soudagar Joshuva Arockia Dhanraj Department of Electrical and Electronics Engineering Bapuji Institute of Engineering and Technology Davangere Karnataka India Department of Computer Science and Engineering CMR Technical Campus Kandlakoya Hyderabad Telangana India Department of Electronics and Communication Engineering Panimalar Engineering College Chennai Tamil Nadu India Department of Computer Science and Business Systems Sri Eshwar College of Engineering Coimbatore Tamil Nadu India Department of VLSI Microelectronics Saveetha School of Engineering Saveetha Institute of Medical and Techinical Sciences Chennai Tamil Nadu India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Padur Chennai Tamil Nadu India

ISBN: (数字)9798350359299

ISBN: (纸本)9798350359305

It is always a challenging task for radiologists to detect Cerebral Aneurysms (CA). Unenhanced magnetic resonance angiography (MRA) has become a popular screening tool because of its non-invasiveness, lack of contrast, and ionizing radiation. Because of its screening role, MRA requires a high recognition rate. This paper presents Machine Learning (ML) methods for detecting CA in MRA data. MRA scans of normal and aneurysms are collected and evaluated. This research study is divided into two sections: segmentation and classification. First, K-Means Clustering (KMC) is used for aneurysm segmentation from MR images. Second, image classification is done. For that, the appropriate features are retrieved using feature extraction and selection. Then Gray Level Run Length Matrix (GLRLM) is used for feature extraction and the Genetic Algorithm (GA) for feature selection. The GLRLM and GA features are provided independently to the ML models for training and testing. The ML models used in the research work are Artificial Neural Networks (ANN) and Modified Fuzzy C-Means (MFCM). The metrics are employed to evaluate the GLRM and GA features with ANN and MFCM. The combination of GA features with ANN produces the best results when compared to other combinations. The GA with ANN obtains an outstanding 98.33% accuracy, 100% specificity and precision, 96.67% sensitivity, and 98.31% F1 score.

关键词： Training Image segmentation Sensitivity Artificial neural networks Aneurysm Feature extraction Reliability

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New High Boost DC-DC Converter for Renewable Energy Conversion

New High Boost DC-DC Converter for Renewable Energy Conversi...

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International Conference on Communications and Electronics, ICCE

作者： Dinh-Tuyen Nguyen Truong-Khang Duong Truong-Duy Duong Trong-Nha Quang Ton Duc Do Faculty of Electrical and Electronics Engineering Ho Chi Minh City University of TechnologyVNU-HCM Ho Chi Minh City Vietnam Dept. Electrical and Computer Engineering Wayne State University Detroit MI USA High Volume Power Design Advanced Energy Industries Inc Eden Prairie MN USA Dept. Robotics and Mechatronics School of Science and Technology Nazarbayev University Kazakhstan

ISBN: (数字)9798350379792

ISBN: (纸本)9798350379808

This paper proposes a high-boost power converter for renewable energy systems. The suggested converter exhibits a simplified structure by replacing a diode in the switched-inductor cell with an active power switch to reduce the total voltage stress on the semiconductor device, get cost reduction, and improve efficiency. Additionally, the common ground feature inherent in the introduced topology expands its potential for renewable energy applications. Finally, the simulation verifications are performed using PSIM software to confirm the effectiveness of the suggested approach, and a detailed comparison study between the basic switched-inductor converter and the suggested converter is also presented.

关键词： Renewable energy sources Costs Simulation Prototypes Voltage Switches Software

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Tooth contact analysis of spur and helical gears with crowned profile for pinion

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IOP Conference Series: Materials Science and engineering 2020年第1期724卷

作者： S Cazan C Dănilă S Creţu Department of Mechanical Engineering Mechatronics and Robotics Technical University of Iaşi Romania Continental Automotive Romania Iaşi Romania

The paper presents tooth contact analysis (TCA) of modified gears using semi-analytical methods (SAMs). The semi-analytical methods use Love's analytical formulation for Boussinesq equation of linear half-space theory and Hartnett approach for numerical formulation. The linear contact between two teeth has a finite length and during meshing process the edge effect appears, with a harmful influence on the gear reliability. To eliminate this, some tooth profile modifications are needed. To turn a line contact into a point contact, the crowned lead profile surface is considered. The ways used to obtain the matrices of separation are discussed for both spur and helical cylindrical gears. The large pressures' systems of equations were solved using the method of conjugate gradients and fast Fourier transform. For validation, in cases of hertzian geometries the SAM results have been compared with results obtained analytically, while for non-hertzian geometries, the SAM results have been compared with FEM results as presented in the specific literature. The developed SAM proved to be an accurate, robust and very fast tool for TCA of spur and helical cylindrical gear.

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Determining the probability of failure for a diesel electric locomotive 060-DA using fault tree analysis

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IOP Conference Series: Materials Science and engineering 2018年第6期444卷

作者： V Goanţă M Alexandrov D Apostol I Blanari Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania CFR Company Iasi branch

The 'fault tree' analysis is one of the most commonly used methods for determining reliability, calculating the probability of failure and thereby determining risk. The primary purpose of this analysis is to evaluate, using analytical and statistical methods, the likelihood of an unfavorable event occurring. These calculations involve the knowledge of system reliability data such as probability of failure, failure rate, time to failure, repair rate etc. Building a 'fault tree' model can provide insight into how to pinpoint potential deficiencies within a functional system. In this paper, a defective tree structure was made for the main components of the 060-DA electric diesel locomotive. Five types of equipment part of the locomotive were taken into consideration: mechanical, pneumatic, thermal, power and auxiliary electrical. Each of these contains, in turn, other subassemblies and components. For the latter, some parameters needed to draw the fault tree diagrams were calculated on a statistical basis. In this way, the probability of the locomotive exiting operation was determined as a result of the defects that occurred in the component parts.

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Target-specified reference-based deep learning network for joint image deblurring and resolution enhancement in surgical zoom lens camera calibration

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Computers in Biology and Medicine 2024年 183卷 109309-109309页

作者： Ha, Ho-Gun Jeung, Deokgi Ullah, Ihsan Tokuda, Junichi Hong, Jaesung Lee, Hyunki Division of Intelligent Robot DGIST 333 Techno Jungang-daero Hyeonpung-myeon Dalseong-gun Daegu42988 Korea Republic of Department of Robotics and Mechatronics Engineering DGIST 333 Techno Jungang-daero Hyeonpung-myeon Dalseong-gun Daegu42988 Korea Republic of Department of Radiology Brigham and Women's Hospital and Harvard Medical School 75 Francis Street BostonMA02115 United States

Background and objective: For the augmented reality of surgical navigation, which overlays a 3D model of the surgical target on an image, accurate camera calibration is imperative. However, when the checkerboard images for calibration are captured using a surgical microscope having high magnification, blur owing to the narrow depth of focus and blocking artifacts caused by limited resolution around the fine edges occur. These artifacts strongly affect the localization of corner points of the checkerboard in these images, resulting in inaccurate calibration, which leads to a large displacement in augmented reality. To solve this problem, in this study, we proposed a novel target-specific deep learning network that simultaneously enhances both the blur and spatial resolution of an image for surgical zoom lens camera calibration. Methods: As a scheme of an end-to-end convolutional deep neural network, the proposed network is specifically intended for the checkerboard image enhancement used in camera calibration. Through the symmetric architecture of the network, which consists of encoding and decoding layers, the distinctive spatial features of the encoding layers are transferred and merged with the output of the decoding layers. Additionally, by integrating a multi-frame framework including subpixel motion estimation and ideal reference image with the symmetric architecture, joint image deblurring and enhanced resolution were efficiently achieved. Results: From experimental comparisons, we verified the capability of the proposed method to improve the subjective and objective performances of surgical microscope calibration. Furthermore, we confirmed that the augmented reality overlap ratio, which quantitatively indicates augmented reality accuracy, from calibration with the enhanced image of the proposed method is higher than that of the previous methods. Conclusions: These findings suggest that the proposed network provides sharp high-resolution images from blurry low

关键词： Image resolution

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Explicit Model Predictive Control for Trajectory Tracking of Autonomous Vehicle

Explicit Model Predictive Control for Trajectory Tracking of...

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Chinese Automation Congress (CAC)

作者： Xiangkang Lai Haolong Jiang Qinyao Liu Qian Guo Xuchen Wang School of Advanced Technology Xi'an Jiaotong Liverpool University Suzhou China Department of Mechatronics and Robotics School of Advanced Technology Xi'an Jiaotong Liverpool University Suzhou China Institute of Intelligent Manufacturing and Smart Transportation Suzhou City University Suzhou China Department of Electrical and Electronic Engineering School of Advanced Technology Xi'an Jiaotong Liverpool University Suzhou China

Autonomous vehicle has been attached more and more attention since it is considered as an effective solution to transportation problems. This paper focuses on the trajectory tracking control algorithms for autonomous vehicles. To improve the computational efficiency, a constrained explicit controller with offline optimization and online search is proposed based on the original model predictive control (MPC) algorithm. The joint simulation based on the Simulink and Carsim is designed to evaluate the performance of proposed explicit controller. The results show that compared with the original MPC controller, the explicit controller can significantly reduce optimization time and achieve relatively similar tracking performance.

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Preface

Mechanisms and Machine Science

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Mechanisms and Machine Science 2023年 127卷 ix-x页

作者： Doroftei, Ioan Nitulescu, Mircea Pisla, Doina Lovasz, Erwin-Christian Department of Mechanical Engineering Mechatronics and Robotics "Gheorghe Asachi" Technical University of Iaşi Iaşi Romania Department of Computers and Electronics Mechatronics and Robotics Faculty of Automation University of Craiova Craiova Romania CESTER Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Mechatronics Polytechnic University of Timisoara Timisoara Romania

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Space Life Support engineering and Biomechatronics Towards the Moon and Mars: A Scoping Review

Space Life Support Engineering and Biomechatronics Towards t...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Jose Cornejo Mariela Vargas Milton V. Rivera Ricardo Palomares Ricardo Barreto Jorge Cornejo Universidad Tecnologica del Peru Lima Peru Institute of Research in Biomedical Sciences (INICIB) Universidad Ricardo Palma Lima Peru Center for Space Systems (C-SET) Institute of Research in Biomedical Sciences (INICIB) Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru National University of Engineering Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

Manned travel to and colonization of the Moon and Mars demand a comprehensive approach that extends far beyond the ability to transport humans on powerful rockets and spacecraft. The sustain ability of human life in these hostile environments is a critical consideration, prompting extensive research to understand how humans might survive and establish themselves beyond Earth. Therefore, this article covers a scoping review, and a point of view of the most relevant published papers is analyzed. The results reveal that the continuous evolution of medical technology and risk analysis have facilitated improved design, research, and development in crucial areas such as engineering and biomedical sciences. Space life support encompasses three fundamental issues: human health and performance, environmental control and habitability, and radiation risks. These aspects are pivotal in ensuring the survival and well-being of astronauts during extended missions in space, which are critical to overcome the technological and biological challenges posed by exploring and colonizing extraterrestrial environments. In addition, the significant challenges associated with manned travel and colonization of other celestial objects underscore the need for continued innovation and collaboration across various scientific and engineering disciplines. Finally, as technological and scientific advancements continue, the prospect of colonizing the Moon and Mars becomes increasingly achievable, paving the way for the next chapter in human exploration and expansion into the cosmos.

关键词： Mars Technological innovation Reviews Space missions Telemedicine Moon Aerospace electronics Water conservation Sustainable development Medical diagnostic imaging

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