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Some Study on Multifinger Robotic Gripper 多指机械手的一些研究
Mohd Mansoor, Pankajbhai R. Prajapati, M. Suhaib
The robotic gripper plays an important role in the robot functioning. It’s the end effector which does the end job for the robot, like pick-place, manipulating and grasping. The dexterity and manipulation depend upon the number of fingers, joints, and degree of freedom (DOF). Multi-finger robotic gripper mimics the human hand design and function. They are used in industries and as well as prosthetics to give rehabilitation to the person with disability. The components of the multi fingered robotic hand consists of palm, actuator, link, joint, tendon, controller, and sensor. It works like the human hand. Several robotic hands have been developed with three, four and five fingers. They have been tested on various objects to determine their efficiency and accordingly modifications have been done. There are various actuation methods and number of actuators that determine the DOF in the robotic gripper. This review article primarily focuses on the robotic hand/gripper along with their design and applications.
机器人爪在机器人的工作中起着重要的作用。末端执行器为机器人完成末端工作,比如拾取,操纵和抓取。灵巧性和操作取决于手指,关节和自由度(DOF)的数量。多指机械手模仿人手的设计和功能。它们被用于工业和假肢,为残疾人提供康复服务。多指机械手的组成部分包括手掌、致动器、连杆、关节、肌腱、控制器和传感器。它像人的手一样工作。已经开发出了几种有三根、四根和五根手指的机械手。在不同的对象上测试了它们,以确定它们的效率,并进行了相应的修改。机器人夹持器的自由度取决于不同的驱动方法和驱动器的数量。这篇综述文章主要集中在机器人手/夹具及其设计和应用。
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引用次数: 0
IoT Interface Device for Sensing Arsenic in Contaminated Water 用于检测受污染水中砷的物联网接口设备
Shivani Pandey, Satanand Mishra, R. Jain
Water pollution is a serious problem in different parts of the world. In addition, water quality must be monitored to ensure that the water is provided safely for drinking and other purposes. Too high a concentration of Arsenic ions in drinking water is the cause of many health problems, including heart problems, neurological problems, etc. Water sampling and laboratory analysis are required for traditional water quality monitoring. In this paper, we discussed an IoT-based interfacing sensor device for sensing arsenic contaminants in water where IoT cloud computing networks enable the integration of a variety range of mechanical and electronic devices. A Node MCU device is used for data transmission which emphasizes on Wi-Fi-controlled interface devices and IoT-enabled communication protocol for the detection of water contaminants. This system is connected to an IoT cloud platform to store the data for analyzing purposes where Red-Green-Blue (RGB) color detection occurs by identifying the wavelength of contaminants. The system makes use of IoT to display the output in real-time for on-site and off-site monitoring via mobile phone. The system makes use of IoT to display the output in real-time for on-site and off-site monitoring via mobile phone, The major advantage of IoT technology is that it easily connects devices and stores the generated data in the cloud. With the help of command control systems, data can be used for appropriate applications to make human life easier and safer while considering Industry's impact. The acceptable limits set by WHO and the Bureau of Indian Standards for Arsenic are 0.05 mg/litres and 0.01 mg/l respectively. Therefore, a smart and intelligent device that can be used for measuring Arsenic content which is very necessary today to ensure the health of human life in society.
水污染在世界各地都是一个严重的问题。此外,必须监测水质,以确保安全提供饮用水和其他用途的水。饮用水中砷离子浓度过高会导致许多健康问题,包括心脏问题、神经问题等。传统的水质监测需要取样和实验室分析。在本文中,我们讨论了一种基于物联网的接口传感器设备,用于检测水中的砷污染物,其中物联网云计算网络能够集成各种机械和电子设备。数据传输使用Node MCU设备,强调wi - fi控制的接口设备和支持物联网的通信协议,用于检测水污染物。该系统与物联网云平台相连,通过识别污染物的波长,存储发生红绿蓝(RGB)颜色检测的数据,用于分析。该系统利用物联网实时显示输出,通过手机进行现场和非现场监控。该系统利用物联网实时显示输出,通过手机进行现场和非现场监控,物联网技术的主要优点是可以轻松连接设备并将生成的数据存储在云中。在指挥控制系统的帮助下,数据可以用于适当的应用程序,使人类的生活更轻松,更安全,同时考虑到行业的影响。世界卫生组织和印度标准局规定的砷可接受限度分别为0.05毫克/升和0.01毫克/升。因此,一种智能、智能的砷含量检测设备是当今社会保障人类生命健康所必需的。
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引用次数: 0
Single Channel EEG Based Binary Sleep and Wake Classification using Entropy Based Features 基于熵特征的单通道脑电睡眠和觉醒二值分类
Yusuf Ahmed Khan, Madiha Tahreem, Omar Farooq
This paper proposes a novel method for binary sleep and Wake classification using entropy-based features extracted from a single-channel electroencephalogram (EEG). This study aims to improve the accuracy of sleep and Wake classification, which has several applications such as in sleep research, sleep tracking, diagnosis of sleep disorders, human performance assessment, human factors engineering. The proposed method is evaluated using the publicly available UCDDB dataset. Results show that the method achieved high classification accuracy, with the Ensemble subspace KNN classifier achieving the highest accuracy of 94.3%, followed by the fine KNN classifier with an accuracy of 92%. A significant improvement in performance can be attributed to the use of entropy-based features in the proposed method. Based on the promising results of this study, it is evident that the proposed method can be applied to sleep medicine for the classification of sleep stages, which can potentially lead to better diagnosis and treatment of sleep disorders.
本文提出了一种利用单通道脑电图提取的基于熵的特征进行睡眠和清醒二值分类的新方法。本研究旨在提高睡眠与觉醒分类的准确性,在睡眠研究、睡眠跟踪、睡眠障碍诊断、人体行为评估、人为因素工程等方面具有广泛的应用前景。使用公开可用的UCDDB数据集对所提出的方法进行了评估。结果表明,该方法取得了较高的分类精度,其中集成子空间KNN分类器准确率最高,达到94.3%,其次是精细KNN分类器,准确率为92%。性能的显著提高可归因于在提出的方法中使用基于熵的特征。基于本研究的令人鼓舞的结果,很明显,所提出的方法可以应用于睡眠医学,对睡眠阶段进行分类,从而有可能更好地诊断和治疗睡眠障碍。
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引用次数: 1
CuO-TiO2 nanocomposite anode for Efficiency Enhancement of Dye Sensitized solar cell 提高染料敏化太阳能电池效率的CuO-TiO2纳米复合阳极
Seema Khan, Asif Jamil Ansari, S. Kazmi
The present work deals with synthesizing copper oxide (CuO) nanoparticles using sol-gel technique, the material characterization was performed to find out its optical and structural properties, absorbance of 288 nm, band gap of 2.84 eV, and particle size of 15.4 nm were observed. The particle size of pure TiO2 was 18 nm and increases to 21.2 nm for the CuO-TiO2 nanocomposite. The absorbance of 302 nm, 322 nm and band gap 3.01 eV, 2.63 eV for TiO2 and CuO-TiO2 were observed respectively. TiO2 and CuO-TiO2 nanocomposites were used as anode material for fabrication of dye sensitized solar cells (DSSC) using N719 dye. Potassium iodide electrolyte and platinum counter electrode is used for DSSCs development. To prepare DSSC anode doctor blading technique was used on FTO glass followed by sintering up to 450 °C. PV characterization was performed in standard test conditions of 100 mW/cm2 and T=25°C. The efficiency of 4.33 % was observed for pure TiO2 anode with N719 dye which increases to 7.73 % for CuO-TiO2 nanocomposites anode.
采用溶胶-凝胶法制备了氧化铜纳米粒子,对其进行了光学和结构表征,测得其吸光度为288 nm,带隙为2.84 eV,粒径为15.4 nm。纯TiO2的粒径为18 nm, CuO-TiO2纳米复合材料的粒径为21.2 nm。TiO2和CuO-TiO2的吸光度分别为302 nm、322 nm,带隙分别为3.01 eV、2.63 eV。以TiO2和CuO-TiO2纳米复合材料为负极材料,制备了N719染料敏化太阳能电池(DSSC)。采用碘化钾电解液和铂对电极制备DSSCs。为了制备DSSC阳极,在FTO玻璃上采用了博士叶片技术,然后烧结至450℃。在100 mW/cm2和T=25°C的标准测试条件下进行PV表征。用N719染料制备纯TiO2阳极的效率为4.33%,用CuO-TiO2纳米复合材料制备阳极的效率为7.73%。
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引用次数: 0
Implementation of Ambipolar CNTFET based logic gates and their performance comparison with CNTFET and CMOS based logic gates 基于双极性CNTFET逻辑门的实现及其与CNTFET和CMOS逻辑门的性能比较
Som Kumar Basnat, M. W. Akram, M. Nizamuddin
Challenges faced by the MOSFETs by scaling down further and further has led to the consideration of novel device (Ambipolar CNTFET) in which channel is intrinsic and has Schottky barrier contacts. Ambipolar CNTFET has back gate which can control the polarity of the device. This in field polarity control can make efficient reconfigurable logic circuits. This work presents the implementation of Ambipolar CNTFET based logic gates such as Inverter, NOR and NAND Gate and extracted different performance parameters such as average power, delay and power delay product and compared it with the conventional CNTFET and CMOS technology. The results show reduction in delay of Ambipolar CNTFET based NOR and NAND gate in comparison to CMOS NOR and NAND gate by 15.48% and 76.93% respectively. An Ambipolar CNTFET is modelled by a circuit consisting of two CNTFETs and two inverters. All the simulation are performed using HSPICE software at 32nm technology node.
由于mosfet的尺寸越来越小,因此需要考虑一种新型器件(双极性cnfet),该器件的沟道是固有的,并且具有肖特基势垒触点。双极性CNTFET具有后门,可以控制器件的极性。这种磁场极性控制可以制作高效的可重构逻辑电路。本文介绍了基于双极性CNTFET的逻辑门的实现,如逆变器、NOR和NAND门,提取了不同的性能参数,如平均功率、延迟和功率延迟积,并将其与传统CNTFET和CMOS技术进行了比较。结果表明,与CMOS的NOR和NAND门相比,基于双极CNTFET的NOR和NAND门的延迟分别降低了15.48%和76.93%。双极性CNTFET是由两个CNTFET和两个逆变器组成的电路建模的。所有仿真均采用HSPICE软件在32nm工艺节点上进行。
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引用次数: 0
Optical Coherence Tomography Image Classification using Light-weight Hybrid Transformers 基于轻型混合变压器的光学相干断层成像图像分类
Disha Singh, Mohammad Ammar, Kushagra Varshney, Y. Khan
Diabetic retinopathy is a diabetes complication that affects the retina of the eye. Conditions like Hyperglycemia and Diabetes can damage the blood vessels in the retina, causing vision problems or even blindness. Early on, the condition often has no symptoms, but it can be detected through regular eye exams. The paper focuses on identifying the various cases of this impairment like Diabetic Macular Edema (DME) and Agerelated Macular Degeneration (AMD) implications like Choroidal Neovascularization (CNV) and Drusen, present in Optical Coherence Tomography images using very lightweight, data-efficient, CNN-based transformer, namely MobileVit. The classification results were obtained using the MobileVit-XXS, the lightest variant of the MobileVit. A balanced, publicly accessible dataset was used to train the model, which was then fine-tuned for optimum performance. This work proposes a CAD methodology using a lightweight CNN-based Transformer network. The accuracy generated by the model is 98.86% and the F1-score is 93.50%. A simple application is developed to test the deployability of the model.
糖尿病视网膜病变是一种影响视网膜的糖尿病并发症。高血糖症和糖尿病等疾病会损害视网膜血管,导致视力问题甚至失明。在早期,这种情况通常没有症状,但可以通过定期的眼科检查发现。本文着重于识别这种损伤的各种情况,如糖尿病性黄斑水肿(DME)和年龄相关性黄斑变性(AMD)的影响,如脉络膜新生血管(CNV)和Drusen,在光学相干断层扫描图像中使用非常轻量,数据高效,基于cnn的变压器,即MobileVit。使用MobileVit- xxs (MobileVit的最轻变体)获得分类结果。使用一个平衡的、可公开访问的数据集来训练模型,然后对模型进行微调以获得最佳性能。这项工作提出了一种CAD方法,使用轻量级的基于cnn的Transformer网络。模型生成的准确率为98.86%,f1得分为93.50%。开发了一个简单的应用程序来测试模型的可部署性。
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引用次数: 0
Lung Segmentation in CT scans with Residual Convolutional and Attention Learning-based U-Net 基于残差卷积和注意学习的U-Net的CT肺分割
Manju Dabass, Anuj Chandalia, H. Gupta, R. Senasi
Lung segmentation is considered as prerequisite step in medical image analysis, particularly for the diagnosis formulation and treatment plan of lung diseases. Hence, we are proposing a residual convolutional and attention learning-based U-Net model for precise and proficient lung segmentation in CT scans. The proposed model incorporates a residual convolutional learning block in place of conventional convolutional layer that is utilized in encoder and decoder and an attention mechanism implemented in skip connections of the conventional U-Net architecture, which resulted in augmenting feature representational capability and advancing the discriminative competence of the model. The model is trained and evaluated on a very well-known public dataset named Lung Image Database Consortium (LIDC) dataset and a private dataset taken from a hospital. Experimental outcomes reveal that the presented model accomplishes state-of-the-art performance in terms of Dice Similarity Coefficient as 0.981 for LIDC and 0.987 for private dataset and outperforms several existing methods. The proposed model has the capability to be employed in various clinical applications including lung disease diagnosis and treatment planning and hence, can assist radiologists in enhancing patient survival rate.
肺分割被认为是医学图像分析的先决步骤,特别是对于肺部疾病的诊断制定和治疗方案。因此,我们提出了一种基于残差卷积和注意学习的U-Net模型,用于CT扫描中精确和熟练的肺部分割。该模型在编码器和解码器中采用残差卷积学习块代替传统的卷积层,在传统U-Net架构的跳过连接中采用注意机制,增强了特征表示能力,提高了模型的判别能力。该模型在一个非常著名的公共数据集——肺图像数据库联盟(LIDC)数据集和一个来自医院的私人数据集上进行训练和评估。实验结果表明,所提出的模型在骰子相似系数方面达到了最先进的性能,LIDC为0.981,私有数据集为0.987,优于现有的几种方法。该模型可用于各种临床应用,包括肺部疾病的诊断和治疗计划,从而帮助放射科医生提高患者的存活率。
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引用次数: 0
Analysis of Seizure Prediction Horizon on Scalp EEG Using MDWP Approach 应用MDWP方法分析头皮脑电图癫痫发作预测水平
N. Rafiuddin, Y. Khan, Omar Farooq
This study proposes a statistical approach to examine the pre-ictal period before the onset of seizures. The study employs the multidepth wavelet packet (MDWP) approach by excavating through the wavelet packet tree to the eighth level of decomposition. Numerous statistical measures were chosen to extract features over raw signal and the retained wavelet packets from the MDWP approach. This extensive process extracted more than twelve thousand features from every five-minute window taken two hours before to five minutes before the seizure onset. Ranking the features extracted from each five-minute window separately revealed the feature of mode computed on the 11th packet of the 4th level of decomposition, 6th packet of the 3rd level of decomposition and 3rd packet of the 2nd level of decomposition among the top three features during the pre-ictal duration. Moreover, the rank of these features shows a drooping nature around 70 minutes before seizure onset. This indicates the sign of prediction horizon to be close to 70 minutes before seizure onset for patient-1 of the CHB-MIT scalp EEG dataset. MATLAB installed on Workstation with 24 cores was used to process the enormous data involved in this study.
本研究提出了一种统计方法来检查癫痫发作前的孕前期。该研究采用多深度小波包(MDWP)方法,通过小波包树挖掘到第8层分解。从MDWP方法中选择了许多统计度量来提取原始信号和保留的小波包的特征。这个广泛的过程从癫痫发作前两小时到发作前五分钟的每五分钟窗口提取12000多个特征。分别对每个5分钟窗口提取的特征进行排序,可以得到前3个特征中第4层分解第11个包、第3层分解第6个包和第2层分解第3个包计算的模式特征。此外,在癫痫发作前70分钟左右,这些特征的排列显示出一种下垂的性质。这表明CHB-MIT头皮脑电图数据集的患者-1的预测范围接近癫痫发作前70分钟。使用安装在24核工作站上的MATLAB来处理本研究涉及的大量数据。
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引用次数: 0
Multiview Human Gait Recognition using a Hybrid CNN Approach 基于混合CNN方法的多视角人体步态识别
Akash Pundir, Manmohan Sharma, Ankita Pundir
Recognizing a person's gait is a challenging task because there are so many factors to consider, such as obstructions due to clothing and bags. As a solution to this problem, a system is proposed for identifying gaits that is based on deep learning and random forests. For feature extraction from video frames, the system employs two popular pretrained models, MobileNetV1 and VGG19. The dimensionality of features is minimized using PCA and mean-based feature fusion is used to combine the reduced features. Six angles were selected from the dataset, and Random Forest was used for classification. The proposed method is put to the test on the CASIA-B dataset, and the results obtained show a mean accuracy of 93.1% for six angles. Experimental findings prove that deep learning and random forests are useful tools for gait recognition.
识别一个人的步态是一项具有挑战性的任务,因为要考虑的因素太多了,比如衣服和袋子造成的障碍物。为了解决这一问题,提出了一种基于深度学习和随机森林的步态识别系统。对于视频帧的特征提取,系统采用了两种流行的预训练模型,MobileNetV1和VGG19。利用主成分分析最小化特征的维数,并利用基于均值的特征融合对降维后的特征进行组合。从数据集中选择6个角度,使用随机森林进行分类。在CASIA-B数据集上进行了测试,结果表明,6个角度的平均精度为93.1%。实验结果证明,深度学习和随机森林是步态识别的有效工具。
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引用次数: 0
Modelling of DC Microgrid for Fault Analysis 面向故障分析的直流微电网建模
Sathish S, Aneesa Farhan M A
Microgrids have become a global trending topic such that there is a plethora of research undergoing in different aspects that include operations like energy management, stability, protection and control. A DC microgrid has done a revolution in the power distribution network and it improves power reliability and quality. Also, DC microgrids have significant benefits over the AC grid in terms of size, price, and efficiency, thereby becoming a preferred network for modern power systems. However, there are no design guidelines or standard models to study the DC microgrid. In this paper, a DC microgrid has been modelled with renewable sources, distributed loads, and an AC grid. The proposed system is modelled using MATLAB/Simulink software platform. Additionally, the work also emphasizes the design and operational features of a DC microgrid, including an investigation of fault characteristics for low resistance faults, high resistance faults and faults at different locations of the DC microgrid.
微电网已经成为一个全球趋势话题,因此在不同方面进行了大量的研究,包括能源管理、稳定、保护和控制等操作。直流微电网是配电网的一场革命,它提高了供电的可靠性和质量。此外,与交流电网相比,直流微电网在规模、价格和效率方面具有显著的优势,因此成为现代电力系统的首选网络。然而,目前还没有研究直流微电网的设计指南或标准模型。本文建立了包含可再生能源、分布式负荷和交流电网的直流微电网模型。采用MATLAB/Simulink软件平台对系统进行了建模。此外,该工作还强调了直流微电网的设计和运行特征,包括对直流微电网低阻故障、高阻故障和不同位置故障的故障特征进行了研究。
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引用次数: 0
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2023 International Conference on Recent Advances in Electrical, Electronics & Digital Healthcare Technologies (REEDCON)
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