首页 > 最新文献

Journal of Automation, Mobile Robotics and Intelligent Systems最新文献

英文 中文
The Coal Quality CICS that Increases the Wear Resistance of Heat Exchanger Tubes 提高换热管耐磨性的煤质 CICS
Q4 Engineering Pub Date : 2024-04-04 DOI: 10.14313/jamris/1-2024/2
M. Grishyn, Kostiantyn Beglov
The paper discusses the threat of decommissioning of the thermal power plant (TPP) heat exchanger tubes because of erosion and develops a computer-integrated control system (COAL QUALITY CICS THAT INCREASES THE WEAR RESISTANCE OF HEAT EXCHANGER TUBES) for the process of distribution of steam coal flows with different indicators of abrasive materials content, which is based on fuzzy logic.The problem of rapid decommissioning of TPP heat exchanger, particularly abrasive damage to furnace screen tubes, economizer, superheater, etc. This may indicate a discrepancy between the expected fuel ash content and the actual one, as well as a high content of abrasive impurities in steam coal.The work aims to develop a CICS of the wear resistance of the heat exchange surface of a steam boiler of a coal-fired power plant by measuring and fuzzy control of the content of abrasive impurities in steam coal.The problems of damage to the equipment of the TPP boiler are investigated and a system for controlling the wear resistance of the surface by automatic fuzzy control of the quality of coal is developed. In order to investigate the effectiveness of the proposed fuzzy controller, the results were investigated in a specific example, in particular, during coal preparation and combustion in the furnace of a thermal power plant. The model results confirm the feasibility of the fuzzy control method for the system with different coal quality parameters.
该论文讨论了火力发电厂(TPP)热交换器管因侵蚀而退役的威胁,并开发了一种基于模糊逻辑的计算机集成控制系统(COAL QUALITY CICS THAT INCREASES THE WEAR RESISTANCE OF HEAT EXCHANGER TUBES),用于具有不同磨料含量指标的蒸汽煤流分配过程。这可能表明预期燃料灰分含量与实际不符,以及蒸汽煤中磨蚀性杂质含量较高。该工作旨在通过测量和模糊控制蒸汽煤中磨蚀性杂质含量,开发燃煤电厂蒸汽锅炉热交换器表面耐磨性的 CICS。研究了 TPP 锅炉设备损坏问题,并开发了通过煤质自动模糊控制表面耐磨性的系统。为了研究所提出的模糊控制器的有效性,在一个具体的例子中对结果进行了研究,特别是在火力发电厂的煤炭制备和炉膛燃烧过程中。模型结果证实了模糊控制方法在具有不同煤质参数的系统中的可行性。
{"title":"The Coal Quality CICS that Increases the Wear Resistance of Heat Exchanger Tubes","authors":"M. Grishyn, Kostiantyn Beglov","doi":"10.14313/jamris/1-2024/2","DOIUrl":"https://doi.org/10.14313/jamris/1-2024/2","url":null,"abstract":"The paper discusses the threat of decommissioning of the thermal power plant (TPP) heat exchanger tubes because of erosion and develops a computer-integrated control system (COAL QUALITY CICS THAT INCREASES THE WEAR RESISTANCE OF HEAT EXCHANGER TUBES) for the process of distribution of steam coal flows with different indicators of abrasive materials content, which is based on fuzzy logic.\u0000The problem of rapid decommissioning of TPP heat exchanger, particularly abrasive damage to furnace screen tubes, economizer, superheater, etc. This may indicate a discrepancy between the expected fuel ash content and the actual one, as well as a high content of abrasive impurities in steam coal.\u0000The work aims to develop a CICS of the wear resistance of the heat exchange surface of a steam boiler of a coal-fired power plant by measuring and fuzzy control of the content of abrasive impurities in steam coal.\u0000The problems of damage to the equipment of the TPP boiler are investigated and a system for controlling the wear resistance of the surface by automatic fuzzy control of the quality of coal is developed. In order to investigate the effectiveness of the proposed fuzzy controller, the results were investigated in a specific example, in particular, during coal preparation and combustion in the furnace of a thermal power plant. The model results confirm the feasibility of the fuzzy control method for the system with different coal quality parameters.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"29 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140744611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Low-Cost Small Scale Autonomous Vehicle 低成本小型自动驾驶汽车
Q4 Engineering Pub Date : 2024-04-04 DOI: 10.14313/jamris/1-2024/3
I. Bogrekci, P. Demircioğlu, Mustafa Yasir Goren
A low-cost small-scale autonomous vehicle refers to a self-driving vehicle that is affordable and designed for smaller applications or purposes. The firefly algorithm was used to solve obstacle-avoiding problems due to dynamic or static uncertain positioned obstacles. The autonomous vehicle reached the determined position, which could be considered accurate. Regardless of the starting point, it arrived at the defined destination in an area with a diameter of 5 meters. Considering the costs of the sensors, simple algorithm, not very powerful processor and circuit elements, sufficient success has been achieved.
低成本小型自动驾驶汽车是指价格低廉、专为小型应用或目的而设计的自动驾驶汽车。萤火虫算法用于解决由于动态或静态不确定位置的障碍物引起的避障问题。自动驾驶汽车到达了确定的位置,这可以被认为是准确的。无论起点如何,它都能在直径为 5 米的区域内到达确定的目的地。考虑到传感器的成本、简单的算法、不太强大的处理器和电路元件,已经取得了足够的成功。
{"title":"Low-Cost Small Scale Autonomous Vehicle","authors":"I. Bogrekci, P. Demircioğlu, Mustafa Yasir Goren","doi":"10.14313/jamris/1-2024/3","DOIUrl":"https://doi.org/10.14313/jamris/1-2024/3","url":null,"abstract":"A low-cost small-scale autonomous vehicle refers to a self-driving vehicle that is affordable and designed for smaller applications or purposes. The firefly algorithm was used to solve obstacle-avoiding problems due to dynamic or static uncertain positioned obstacles. The autonomous vehicle reached the determined position, which could be considered accurate. Regardless of the starting point, it arrived at the defined destination in an area with a diameter of 5 meters. Considering the costs of the sensors, simple algorithm, not very powerful processor and circuit elements, sufficient success has been achieved.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"51 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140745237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Unlocking the Future of Secure Automatic Machines: Leveraging FaceReg with HRC & LBPH 开启自动安全机器的未来:利用HRC和LBPH的FaceReg技术
Q4 Engineering Pub Date : 2024-04-04 DOI: 10.14313/jamris/1-2024/7
Yamini Vijaywargiya, Mahak Mishra, N. Doohan
{"title":"Unlocking the Future of Secure Automatic Machines: Leveraging FaceReg with HRC & LBPH","authors":"Yamini Vijaywargiya, Mahak Mishra, N. Doohan","doi":"10.14313/jamris/1-2024/7","DOIUrl":"https://doi.org/10.14313/jamris/1-2024/7","url":null,"abstract":"","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"26 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140744884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Pearson Correlation and Ordered Weighted Average Operator in The World Stock Exchange Market 世界证券交易市场中的皮尔逊相关性和有序加权平均运算器
Q4 Engineering Pub Date : 2024-04-04 DOI: 10.14313/jamris/1-2024/5
Martha Flores-Sosa, Ernesto León-Castro, Jose Merigo
Due to the large number of transactions carried out in the stock market, it becomes of great importance for the financial development of a country. Analyzing the correlation between indices in the world helps us to know the way towards the variables that impact. This paper proposes the use of ordered weighted average (OWA) operators in combination with Pearson Coefficient to create a measure of correlation that can analyze a wide range of possible scenarios that go minimum to maximum. The new frameworks can add additional information to the process of correlation. The work presents an application in ten of the largest stock exchanges in the world. The results suggest a broad positive correlation between them that is reinforced in times of instability.
由于股票市场交易量巨大,它对一个国家的金融发展至关重要。分析全球指数之间的相关性有助于我们了解影响变量的走向。本文建议将有序加权平均(OWA)算子与皮尔逊系数结合使用,以创建一种可分析从最小到最大的各种可能情况的相关性度量。新的框架可以为相关过程增加额外的信息。这项工作介绍了在全球最大的十家证券交易所中的应用。结果表明,它们之间存在广泛的正相关性,这种相关性在不稳定时期得到加强。
{"title":"Pearson Correlation and Ordered Weighted Average Operator in The World Stock Exchange Market","authors":"Martha Flores-Sosa, Ernesto León-Castro, Jose Merigo","doi":"10.14313/jamris/1-2024/5","DOIUrl":"https://doi.org/10.14313/jamris/1-2024/5","url":null,"abstract":"Due to the large number of transactions carried out in the stock market, it becomes of great importance for the financial development of a country. Analyzing the correlation between indices in the world helps us to know the way towards the variables that impact. This paper proposes the use of ordered weighted average (OWA) operators in combination with Pearson Coefficient to create a measure of correlation that can analyze a wide range of possible scenarios that go minimum to maximum. The new frameworks can add additional information to the process of correlation. The work presents an application in ten of the largest stock exchanges in the world. The results suggest a broad positive correlation between them that is reinforced in times of instability.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"37 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140742843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Using Reinforcement Learning to Select an Optimal Feature Set 利用强化学习选择最佳特征集
Q4 Engineering Pub Date : 2024-04-04 DOI: 10.14313/jamris/1-2024/6
Yassine Akhiat, Ahmed Zinedine, M. Chahhou
Feature Selection (FS) is an essential research topic in the area of machine learning. FS, which is the process of identifying the relevant features and removing the irrelevant and redundant ones, is meant to deal with the high dimensionality problem for the sake of selecting the best performing feature subset. In the literature, many feature selection techniques approach the task as a research problem, where each state in the search space is a possible feature subset. In this paper, we introduce a new feature selection method based on reinforcement learning. First, decision tree branches are used to traverse the search space. Second, a transition similarity measure is proposed so as to ensure exploit‐explore trade‐off. Finally, the informative features are the most involved ones in constructing the best branches. The performance of the proposed approaches is evaluated on nine standard benchmark datasets. The results using the AUC score show the effectiveness of the proposed system.
特征选择(FS)是机器学习领域的一个重要研究课题。特征选择是识别相关特征并去除不相关特征和冗余特征的过程,旨在处理高维度问题,以选择性能最佳的特征子集。在文献中,许多特征选择技术都把这项任务当作一个研究问题来处理,搜索空间中的每个状态都是一个可能的特征子集。本文介绍了一种基于强化学习的新特征选择方法。首先,使用决策树分支来遍历搜索空间。其次,我们提出了一种过渡相似度测量方法,以确保利用与探索之间的权衡。最后,在构建最佳分支时,信息特征是最重要的特征。我们在九个标准基准数据集上对所提出方法的性能进行了评估。使用 AUC 分数得出的结果显示了所提系统的有效性。
{"title":"Using Reinforcement Learning to Select an Optimal Feature Set","authors":"Yassine Akhiat, Ahmed Zinedine, M. Chahhou","doi":"10.14313/jamris/1-2024/6","DOIUrl":"https://doi.org/10.14313/jamris/1-2024/6","url":null,"abstract":"Feature Selection (FS) is an essential research topic in the area of machine learning. FS, which is the process of identifying the relevant features and removing the irrelevant and redundant ones, is meant to deal with the high dimensionality problem for the sake of selecting the best performing feature subset. In the literature, many feature selection techniques approach the task as a research problem, where each state in the search space is a possible feature subset. In this paper, we introduce a new feature selection method based on reinforcement learning. First, decision tree branches are used to traverse the search space. Second, a transition similarity measure is proposed so as to ensure exploit‐explore trade‐off. Finally, the informative features are the most involved ones in constructing the best branches. The performance of the proposed approaches is evaluated on nine standard benchmark datasets. The results using the AUC score show the effectiveness of the proposed system.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"13 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140743395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
(µ + λ) Evolution Strategy with Socio-cognitive Mutation (µ + λ) 具有社会认知突变的进化策略
Q4 Engineering Pub Date : 2024-04-04 DOI: 10.14313/jamris/1-2024/1
Aleksandra Urbanczyk, Krzysztof Kucaba, Mateusz Wojtulewicz, Marek Kisiel-Dorohinicki, L. Rutkowski, Piotr Duda, Janusz Kacprzyk, Siang Yew Chong, Xin Yao, A. Byrski
Socio-cognitive computing is a paradigm developed for the last several years in our research group. It consists of introducing mechanisms inspired by inter-individual learning and cognition into metaheuristics. Different versions of the paradigm have been successfully applied in hybridizing Ant Colony Optimization (ACO), Particle Swarm Optimization (PSO), Genetic Algorithms, Differential Evolution, and Evolutionary Multi-agent System (EMAS) metaheuristics. In this paper, we have followed our previous experiences in order to propose a novel mutation based on sociocognitive mechanism and test it based on Evolution Strategy (ES). The newly constructed versions were applied to popular benchmarks and compared with their reference versions.
社会认知计算是我们研究小组在过去几年中开发的一种范式。它包括将受个体间学习和认知启发的机制引入元启发式计算。该范式的不同版本已成功应用于蚁群优化(ACO)、粒子群优化(PSO)、遗传算法、差分进化和进化多代理系统(EMAS)元启发式算法的混合。在本文中,我们根据以往的经验,提出了一种基于社会认知机制的新型突变,并在进化策略(ES)的基础上对其进行了测试。我们将新构建的版本应用于流行的基准,并与其参考版本进行比较。
{"title":"(µ + λ) Evolution Strategy with Socio-cognitive Mutation","authors":"Aleksandra Urbanczyk, Krzysztof Kucaba, Mateusz Wojtulewicz, Marek Kisiel-Dorohinicki, L. Rutkowski, Piotr Duda, Janusz Kacprzyk, Siang Yew Chong, Xin Yao, A. Byrski","doi":"10.14313/jamris/1-2024/1","DOIUrl":"https://doi.org/10.14313/jamris/1-2024/1","url":null,"abstract":"Socio-cognitive computing is a paradigm developed for the last several years in our research group. It consists of introducing mechanisms inspired by inter-individual learning and cognition into metaheuristics. Different versions of the paradigm have been successfully applied in hybridizing Ant Colony Optimization (ACO), Particle Swarm Optimization (PSO), Genetic Algorithms, Differential Evolution, and Evolutionary Multi-agent System (EMAS) metaheuristics. In this paper, we have followed our previous experiences in order to propose a novel mutation based on sociocognitive mechanism and test it based on Evolution Strategy (ES). The newly constructed versions were applied to popular benchmarks and compared with their reference versions.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"79 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140742568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementing Visual Assistant using YOLO and SSD for Visually-Impaired Persons 使用 YOLO 和 SSD 为视障人士实施视觉助理
Q4 Engineering Pub Date : 2024-03-07 DOI: 10.14313/jamris/4-2023/33
R. Litoriya, Kailash Chandra Bandhu, Sanket Gupta, Ishika Rajawat, Hany Jagwani, Chirayu Yadav
Artificial Intelligence has been touted as the next big thing that is capable of altering the current landscape of the technological domain. Through the use of Artificial Intelligence and Machine Learning, pioneering work has been undertaken in the area of Visual and Object Detection. In this paper, we undertake the analysis of a Visual Assistant Application for Guiding Visually Impaired Individuals. With recent breakthroughs in computer vision and supervised learning models, the problem at hand has been reduced significantly to the point where new models are easier to build and implement than the already existing models. Different object detection models exist now that provide object tracking and detection with great accuracy. These techniques have been widely used in automating detection tasks in different areas. A few newly discovered detection approaches, such as the YOLO (You Only Look Once) and SSD (Single Shot Detector), have proved to be consistent and quite accurate at detecting objects in real-time. This paper attempts to utilize the combination of these state-of-the-art, real-time object detection techniques to develop a good base model. Paper also implements a 'Visual Assistant' for visually impaired people. The results obtained are improved and superior compared to existing algorithms.
人工智能被誉为能够改变当前技术领域格局的下一件大事。通过使用人工智能和机器学习,在视觉和物体检测领域开展了开创性的工作。在本文中,我们将对用于引导视障人士的视觉助理应用程序进行分析。随着计算机视觉和监督学习模型的最新突破,手头的问题已经大大减少,新模型比现有模型更容易构建和实施。目前已有不同的物体检测模型,可提供非常精确的物体跟踪和检测。这些技术已广泛应用于不同领域的自动检测任务。一些新发现的检测方法,如 YOLO(只看一次)和 SSD(单发检测器),已被证明在实时检测物体方面具有一致性和相当高的准确性。本文试图将这些最先进的实时物体检测技术结合起来,开发出一个良好的基础模型。本文还为视障人士实现了一个 "视觉助手"。与现有算法相比,所获得的结果有所改进和提高。
{"title":"Implementing Visual Assistant using YOLO and SSD for Visually-Impaired Persons","authors":"R. Litoriya, Kailash Chandra Bandhu, Sanket Gupta, Ishika Rajawat, Hany Jagwani, Chirayu Yadav","doi":"10.14313/jamris/4-2023/33","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/33","url":null,"abstract":"Artificial Intelligence has been touted as the next big thing that is capable of altering the current landscape of the technological domain. Through the use of Artificial Intelligence and Machine Learning, pioneering work has been undertaken in the area of Visual and Object Detection. In this paper, we undertake the analysis of a Visual Assistant Application for Guiding Visually Impaired Individuals. With recent breakthroughs in computer vision and supervised learning models, the problem at hand has been reduced significantly to the point where new models are easier to build and implement than the already existing models. Different object detection models exist now that provide object tracking and detection with great accuracy. These techniques have been widely used in automating detection tasks in different areas. A few newly discovered detection approaches, such as the YOLO (You Only Look Once) and SSD (Single Shot Detector), have proved to be consistent and quite accurate at detecting objects in real-time. This paper attempts to utilize the combination of these state-of-the-art, real-time object detection techniques to develop a good base model. Paper also implements a 'Visual Assistant' for visually impaired people. The results obtained are improved and superior compared to existing algorithms.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"23 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140077253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – a Case Study 轻型轮式移动机器人在各种软地面上的运动仿真研究 - 案例研究
Q4 Engineering Pub Date : 2024-03-07 DOI: 10.14313/jamris/4-2023/26
M. Trojnacki, P. Dąbek
A problem of influence of three types of soft ground on longitudinal motion of a lightweight four-wheeled mobile robot is considered. Kinematic structure, main design features of the robot and its dynamics model are described. A numerical model was elaborated to simulate the dynamics of the robot's multi-body system and the wheel-ground interaction, taking into account the soil deformation and stresses occurring on the circumference of the wheel in the area of contact with the deformable ground. Numerical analysis involving four velocities of robot motion and three cases of soil (dry sand, sandy loam, clayey soil) is performed. Within simulation research, the motion parameters of the robot, ground reaction forces and moments of force, driving torques, wheel sinkage and slip parameters of wheels were calculated. Aggregated research results as well as detailed results of selected simulations are shown and discussed. As a result of the research, it was noticed that wheel slip ratios, wheels’ sinkage and wheel driving torques increase with desired velocity of motion. Moreover, it was observed that wheels’ sinkage and driving torques are significantly larger for dry sand than for the other investigated ground types.
研究了三种软地面对轻型四轮移动机器人纵向运动的影响问题。介绍了机器人的运动学结构、主要设计特点及其动力学模型。考虑到与可变形地面接触区域的土壤变形和车轮圆周上产生的应力,建立了一个数值模型来模拟机器人多体系统的动力学和车轮与地面的相互作用。数值分析涉及机器人的四种运动速度和三种土壤(干沙、砂质壤土、粘土)。在模拟研究中,计算了机器人的运动参数、地面反作用力和力矩、驱动扭矩、车轮下沉量和车轮滑移参数。研究结果的汇总以及所选模拟的详细结果均已显示和讨论。研究结果表明,车轮滑移率、车轮下沉量和车轮驱动扭矩随着所需的运动速度而增加。此外,研究还发现,干砂地面的车轮下沉量和驱动扭矩明显大于其他研究过的地面类型。
{"title":"Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – a Case Study","authors":"M. Trojnacki, P. Dąbek","doi":"10.14313/jamris/4-2023/26","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/26","url":null,"abstract":"A problem of influence of three types of soft ground on longitudinal motion of a lightweight four-wheeled mobile robot is considered. Kinematic structure, main design features of the robot and its dynamics model are described. A numerical model was elaborated to simulate the dynamics of the robot's multi-body system and the wheel-ground interaction, taking into account the soil deformation and stresses occurring on the circumference of the wheel in the area of contact with the deformable ground. Numerical analysis involving four velocities of robot motion and three cases of soil (dry sand, sandy loam, clayey soil) is performed. Within simulation research, the motion parameters of the robot, ground reaction forces and moments of force, driving torques, wheel sinkage and slip parameters of wheels were calculated. Aggregated research results as well as detailed results of selected simulations are shown and discussed. As a result of the research, it was noticed that wheel slip ratios, wheels’ sinkage and wheel driving torques increase with desired velocity of motion. Moreover, it was observed that wheels’ sinkage and driving torques are significantly larger for dry sand than for the other investigated ground types.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"38 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140259485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The Overview of Challenges in Detecting Patients' Hazards During Robot-Aided Remote Home Motor Rehabilitation 机器人辅助远程家庭运动康复过程中检测患者危险的挑战概述
Q4 Engineering Pub Date : 2024-03-07 DOI: 10.14313/jamris/4-2023/27
Julia Wilk, Piotr Falkowski, Tomasz Osiak
Home, minimally‐supervised rehabilitation has become an arising technological trend due to the shortages in medical staff. Implementing such requires providing advanced tools for automatic real‐time safety monitoring. The paper presents an approach to designing the mentioned safety system based on measurements and modelling the interface between a patient’s musculoskeletal system and a rehabilitation device. The content covers the segmentation of patients regarding their health conditions and assigns them suitable measurement techniques. The defined groups are described with the hazards, which they are most endangered, and their causes. Each case is correlated with the appropriate data type that may be used to detect potential risk. Moreover, a concept of using presented knowledge for tracking the safety of bones and soft tissues according to the biomechanical standards is included. The paper forms a set of guidelines for designing safety systems based on measurements for robot‐aided home kinesiotherapy. It can be used to select an appropriate approach regarding a specific case; so to decrease costs and increase the accuracy of the designed tools.
由于医护人员的短缺,家庭微监控康复已成为一种新兴的技术趋势。要实现这一点,需要提供先进的自动实时安全监控工具。本文介绍了一种基于病人肌肉骨骼系统和康复设备之间界面的测量和建模来设计上述安全系统的方法。内容包括根据患者的健康状况对其进行分类,并为其分配合适的测量技术。对所定义的群体进行了描述,包括他们最容易受到的危害及其原因。每个病例都与可用于检测潜在风险的适当数据类型相关联。此外,还包括根据生物力学标准,利用所提供的知识跟踪骨骼和软组织安全性的概念。本文为设计基于机器人辅助家庭运动疗法测量的安全系统提供了一套指导原则。它可用于针对具体病例选择适当的方法,从而降低成本并提高所设计工具的准确性。
{"title":"The Overview of Challenges in Detecting Patients' Hazards During Robot-Aided Remote Home Motor Rehabilitation","authors":"Julia Wilk, Piotr Falkowski, Tomasz Osiak","doi":"10.14313/jamris/4-2023/27","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/27","url":null,"abstract":"Home, minimally‐supervised rehabilitation has become an arising technological trend due to the shortages in medical staff. Implementing such requires providing advanced tools for automatic real‐time safety monitoring. The paper presents an approach to designing the mentioned safety system based on measurements and modelling the interface between a patient’s musculoskeletal system and a rehabilitation device. The content covers the segmentation of patients regarding their health conditions and assigns them suitable measurement techniques. The defined groups are described with the hazards, which they are most endangered, and their causes. Each case is correlated with the appropriate data type that may be used to detect potential risk. Moreover, a concept of using presented knowledge for tracking the safety of bones and soft tissues according to the biomechanical standards is included. The paper forms a set of guidelines for designing safety systems based on measurements for robot‐aided home kinesiotherapy. It can be used to select an appropriate approach regarding a specific case; so to decrease costs and increase the accuracy of the designed tools.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"48 18","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140259060","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
WiMAX Network Optimization Using Frame Period with Channel Allocation Techniques 利用帧周期和信道分配技术优化 WiMAX 网络
Q4 Engineering Pub Date : 2024-03-07 DOI: 10.14313/jamris/4-2023/31
Mubeen Ahmed Khan, Awanit Kumar, Kailash Chandra Bandhu
Internet connectivity in WiMAX networks, along with various applications, is increasing rapidly, so the connectivity of internet and data transfer speed are always challenge for effective data transmission in wireless networks. Several factors affect the performance of networks. One important factor is to choose a suitable frame period for effective data transmissions. The performance of different frame period with round-robin and strict priority are evaluated in this work. A frame period in round robin performs better than a strict priority in terms of throughput, but a strict priority performs better in terms of drop rates is observed. This paper also demonstrates that an effective frame period, when combined with a proper bandwidth allocation algorithm, yields better results. This work gives the analysis that round robin performs 83.8847% better while strict priority performs 86.0020% better than the earliest deadline first algorithms for 10 subscriber stations in terms of throughput. This work is helpful to researchers and industrialists for actual implementations in WiMAX networks.
WiMAX 网络中的互联网连接以及各种应用正在迅速增加,因此互联网连接和数据传输速度一直是无线网络有效数据传输的挑战。影响网络性能的因素有很多。其中一个重要因素是选择合适的帧周期以实现有效的数据传输。本研究评估了轮循和严格优先的不同帧周期的性能。就吞吐量而言,循环帧周期比严格优先帧周期表现更好,但就丢包率而言,严格优先帧周期表现更好。本文还证明,有效的帧周期与适当的带宽分配算法相结合,会产生更好的结果。本文分析了 10 个用户站的吞吐量,在最早截止时间优先算法方面,循环算法比严格优先算法好 83.8847%,而严格优先算法比最早截止时间优先算法好 86.0020%。这项工作有助于研究人员和工业人员在 WiMAX 网络中的实际应用。
{"title":"WiMAX Network Optimization Using Frame Period with Channel Allocation Techniques","authors":"Mubeen Ahmed Khan, Awanit Kumar, Kailash Chandra Bandhu","doi":"10.14313/jamris/4-2023/31","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/31","url":null,"abstract":"Internet connectivity in WiMAX networks, along with various applications, is increasing rapidly, so the connectivity of internet and data transfer speed are always challenge for effective data transmission in wireless networks. Several factors affect the performance of networks. One important factor is to choose a suitable frame period for effective data transmissions. The performance of different frame period with round-robin and strict priority are evaluated in this work. A frame period in round robin performs better than a strict priority in terms of throughput, but a strict priority performs better in terms of drop rates is observed. This paper also demonstrates that an effective frame period, when combined with a proper bandwidth allocation algorithm, yields better results. This work gives the analysis that round robin performs 83.8847% better while strict priority performs 86.0020% better than the earliest deadline first algorithms for 10 subscriber stations in terms of throughput. This work is helpful to researchers and industrialists for actual implementations in WiMAX networks.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"17 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140077402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
期刊
Journal of Automation, Mobile Robotics and Intelligent Systems
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1