Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system co...
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Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.
This forum provides a space to engage with the challenges of designing for intelligent algorithmic experiences. We invite articles that tackle the tensions between research and practice when integrating AI and UX desi...
The Message Passing Interface (MPI) is a widely accepted standard for parallel computing on distributed ***, MPI implementations can contain defects that impact the reliability and performance of parallelapplications....
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The Message Passing Interface (MPI) is a widely accepted standard for parallel computing on distributed ***, MPI implementations can contain defects that impact the reliability and performance of parallelapplications. Detecting and correcting these defects is crucial, yet there is a lack of published models specificallydesigned for correctingMPI defects. To address this, we propose a model for detecting and correcting MPI defects(DC_MPI), which aims to detect and correct defects in various types of MPI communication, including blockingpoint-to-point (BPTP), nonblocking point-to-point (NBPTP), and collective communication (CC). The defectsaddressed by the DC_MPI model include illegal MPI calls, deadlocks (DL), race conditions (RC), and messagemismatches (MM). To assess the effectiveness of the DC_MPI model, we performed experiments on a datasetconsisting of 40 MPI codes. The results indicate that the model achieved a detection rate of 37 out of 40 codes,resulting in an overall detection accuracy of 92.5%. Additionally, the execution duration of the DC_MPI modelranged from 0.81 to 1.36 s. These findings show that the DC_MPI model is useful in detecting and correctingdefects in MPI implementations, thereby enhancing the reliability and performance of parallel applications. TheDC_MPImodel fills an important research gap and provides a valuable tool for improving the quality ofMPI-basedparallel computing systems.
Illegible handwriting on medical prescriptions poses a significant challenge, often leading to the misinterpretation of drug names and dosages. This issue primarily stems from doctors' use of Latin abbreviations, ...
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Diabetic Retinopathy (DR) is a prevalent eye complication among individuals with diabetes. Early detection of DR can prevent vision loss and lower associated problems. Manual diagnosis via retinal fundus images requir...
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This study developed and implemented a machine learning-driven HR system designed to enhance recruitment outcomes, particularly in online interviews. Challenges such as candidate impersonation, interview question memo...
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Mission critical Machine-type Communication(mcMTC),also referred to as Ultra-reliable Low Latency Communication(URLLC),has become a research *** is primarily characterized by communication that provides ultra-high rel...
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Mission critical Machine-type Communication(mcMTC),also referred to as Ultra-reliable Low Latency Communication(URLLC),has become a research *** is primarily characterized by communication that provides ultra-high reliability and very low latency to concurrently transmit short commands to a massive number of connected *** the reduction in physical(PHY)layer overhead and improvement in channel coding techniques are pivotal in reducing latency and improving reliability,the current wireless standards dedicated to support mcMTC rely heavily on adopting the bottom layers of general-purpose wireless standards and customizing only the upper *** mcMTC has a significant technical impact on the design of all layers of the communication protocol *** this paper,an innovative bottom-up approach has been proposed for mcMTC applications through PHY layer targeted at improving the transmission reliability by implementing ultra-reliable channel coding scheme in the PHY layer of IEEE 802.11a standard bearing in mind short packet transmission *** achieve this aim,we analyzed and compared the channel coding performance of convolutional codes(CCs),low-density parity-check(LDPC)codes,and polar codes in wireless network on the condition of short data packet *** Viterbi decoding algorithm(VA),logarithmic belief propagation(Log-BP)algorithm,and cyclic redundancy check(CRC)successive cancellation list(SCL)(CRC-SCL)decoding algorithm were adopted to CC,LDPC codes,and polar codes,***,a new PHY layer for mcMTC has been *** reliability of the proposed approach has been validated by simulation in terms of Bit error rate(BER)and packet error rate(PER)***-to-noise ratio(SNR).The simulation results demonstrate that the reliability of IEEE 802.11a standard has been significantly improved to be at PER=10−5 or even better with the implementation of polar *** results also show that the general-purpose wireless net
Bacterial strains in the same genus share highly similar morphology, gram-staining characteristics, colony sizes, and spatial arrangements. Therefore, identifying them by deep learning can be quite challenging. This s...
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Cryptography is an essential tool in ensuring the security of data during network communication. Network and service providers prioritize data security to ensure secure data exchanges. Ethiopic cryptography is a uniqu...
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Benefiting from the rapid advancements in Deep Learning (DL), data-driven features exhibit remarkable separability in PolSAR image classification. However, data-driven features are challenging to interpret and suscept...
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