Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

Simultaneous Identification of Thermophysical Properties of Semitransparent Media Using a Hybrid Model Based on Artificial Neural Network and Evolutionary Algorithm

A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductivity and effective absorption coefficient of semitransparent materials.For the direct model,the spherical harmonic method and the finite volume method are used to solve the coupled conduction-radiation heat transfer problem in an absorbing,emitting,and non-scattering 2D axisymmetric gray medium in the background of laser flash method.For the identification part,firstly,the temperature field and the incident radiation field in different positions are chosen as observables.Then,a traditional identification model based on PSO algorithm is established.Finally,multilayer ANNs are built to fit and replace the direct model in the traditional identification model to speed up the identification process.The results show that compared with the traditional identification model,the time cost of the hybrid identification model is reduced by about 1 000 times.Besides,the hybrid identification model remains a high level of accuracy even with measurement errors.

A Novel 3D Gait Model for Subject Identification Robust against Carrying and Dressing Variations

Subject identification via the subject’s gait is challenging due to variations in the subject’s carrying and dressing conditions in real-life scenes.This paper proposes a novel targeted 3-dimensional(3D)gait model(3DGait)represented by a set of interpretable 3DGait descriptors based on a 3D parametric body model.The 3DGait descriptors are utilised as invariant gait features in the 3DGait recognition method to address object carrying and dressing.The 3DGait recognitionmethod involves 2-dimensional(2D)to 3DGaitdata learningbasedon3Dvirtual samples,a semantic gait parameter estimation Long Short Time Memory(LSTM)network(3D-SGPE-LSTM),a feature fusion deep model based on a multi-set canonical correlation analysis,and SoftMax recognition network.First,a sensory experiment based on 3D body shape and pose deformation with 3D virtual dressing is used to fit 3DGait onto the given 2D gait images.3Dinterpretable semantic parameters control the 3D morphing and dressing involved.Similarity degree measurement determines the semantic descriptors of 2D gait images of subjects with various shapes,poses and styles.Second,using the 2D gait images as input and the subjects’corresponding 3D semantic descriptors as output,an end-to-end 3D-SGPE-LSTM is constructed and trained.Third,body shape,pose and external gait factors(3D-eFactors)are estimated using the 3D-SGPE-LSTM model to create a set of interpretable gait descriptors to represent the 3DGait Model,i.e.,3D intrinsic semantic shape descriptor(3DShape);3D skeleton-based gait pose descriptor(3D-Pose)and 3D dressing with other 3D-eFators.Finally,the 3D-Shape and 3D-Pose descriptors are coupled to a unified pattern space by learning prior knowledge from the 3D-eFators.Practical research on CASIA B,CMU MoBo,TUM GAID and GPJATK databases shows that 3DGait is robust against object carrying and dressing variations,especially under multi-cross variations.

Lateral ring compression test applied to a small caliber steel jacket:Identification of a constitutive model

The evolution of threats and scenarios requires continuous performance improvements of ballistic protections for armed forces.From a modeling point of view,it is necessary to use sufficiently precise material behavior models to accurately describe the phenomena observed during the impact of a projectile on a protective equipment.In this context,the goal of this paper is to characterize the behavior of a small caliber steel jacket by combining experimental and numerical approaches.The experimental method is based on the lateral compression of ring specimens directly machined from the thin and small ammunition.Various speeds and temperatures are considered in a quasi-static regime in order to reveal the strain rate and temperature dependencies of the tested material.The Finite Element Updating Method(FEMU)is used.Experimental results are coupled with an inverse optimization method and a finite element numerical model in order to determine the parameters of a constitutive model representative of the jacket material.Predictions of the present model are verified against experimental results and a parametric study as well as a discussion on the identified material parameters are proposed.The results indicate that the strain hardening parameter can be neglected and the behavior of the thin steel jacket can be described by a modeling without strain hardening sensitivity.

Deep Transfer Learning Models for Mobile-Based Ocular Disorder Identification on Retinal Images

Mobile technology is developing significantly.Mobile phone technologies have been integrated into the healthcare industry to help medical practitioners.Typically,computer vision models focus on image detection and classification issues.MobileNetV2 is a computer vision model that performs well on mobile devices,but it requires cloud services to process biometric image information and provide predictions to users.This leads to increased latency.Processing biometrics image datasets on mobile devices will make the prediction faster,but mobiles are resource-restricted devices in terms of storage,power,and computational speed.Hence,a model that is small in size,efficient,and has good prediction quality for biometrics image classification problems is required.Quantizing pre-trained CNN(PCNN)MobileNetV2 architecture combined with a Support Vector Machine(SVM)compacts the model representation and reduces the computational cost and memory requirement.This proposed novel approach combines quantized pre-trained CNN(PCNN)MobileNetV2 architecture with a Support Vector Machine(SVM)to represent models efficiently with low computational cost and memory.Our contributions include evaluating three CNN models for ocular disease identification in transfer learning and deep feature plus SVM approaches,showing the superiority of deep features from MobileNetV2 and SVM classification models,comparing traditional methods,exploring six ocular diseases and normal classification with 20,111 images postdata augmentation,and reducing the number of trainable models.The model is trained on ocular disorder retinal fundus image datasets according to the severity of six age-related macular degeneration(AMD),one of the most common eye illnesses,Cataract,Diabetes,Glaucoma,Hypertension,andMyopia with one class Normal.From the experiment outcomes,it is observed that the suggested MobileNetV2-SVM model size is compressed.The testing accuracy for MobileNetV2-SVM,InceptionV3,and MobileNetV2 is 90.11%,86.88%,and 89.76%respectively while MobileNetV2-SVM,InceptionV3,and MobileNetV2 accuracy are observed to be 92.59%,83.38%,and 90.16%,respectively.The proposed novel technique can be used to classify all biometric medical image datasets on mobile devices.

Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to construct.Hence,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model parameters.Meanwhile,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical constraints.Then a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative motion.Finally,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons platform.The knee joint motion achieves a steady-state response after 0.5 s.Meanwhile,the position error of hip joint response is less than 0.03 rad after 0.9 s.In addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·m.This research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model parameters.Furthermore,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

Fracture identification of carbonate reservoirs by deep forest model:An example from the D oilfield in Zagros Basin

Identifying fractures along a well trajectory is of immense significance in determining the subsurface fracture network distribution.Typically,conventional logs exhibit responses in fracture zones,and almost all wells have such logs.However,detecting fractures through logging responses can be challenging since the log response intensity is weak and complex.To address this problem,we propose a deep learning model for fracture identification using deep forest,which is based on a cascade structure comprising multi-layer random forests.Deep forest can extract complex nonlinear features of fractures in conventional logs through ensemble learning and deep learning.The proposed approach is tested using a dataset from the Oligocene to Miocene tight carbonate reservoirs in D oilfield,Zagros Basin,Middle East,and eight logs are selected to construct the fracture identification model based on sensitivity analysis of logging curves against fractures.The log package includes the gamma-ray,caliper,density,compensated neutron,acoustic transit time,and shallow,deep,and flushed zone resistivity logs.Experiments have shown that the deep forest obtains high recall and accuracy(>92%).In a blind well test,results from the deep forest learning model have a good correlation with fracture observation from cores.Compared to the random forest method,a widely used ensemble learning method,the proposed deep forest model improves accuracy by approximately 4.6%.

Fault Identification for Shear-Type Structures Using Low-Frequency Vibration Modes

Shear-type structures are common structural forms in industrial and civil buildings,such as concrete and steel frame structures.Fault diagnosis of shear-type structures is an important topic to ensure the normal use of structures.The main drawback of existing damage assessment methods is that they require accurate structural finite element models for damage assessment.However,for many shear-type structures,it is difficult to obtain accurate FEM.In order to avoid finite elementmodeling,amodel-freemethod for diagnosing shear structure defects is developed in this paper.This method only needs to measure a few low-order vibration modes of the structure.The proposed defect diagnosis method is divided into two stages.In the first stage,the location of defects in the structure is determined based on the difference between the virtual displacements derived from the dynamic flexibility matrices before and after damage.In the second stage,damage severity is evaluated based on an improved frequency sensitivity equation.Themain innovations of this method lie in two aspects.The first innovation is the development of a virtual displacement difference method for determining the location of damage in the shear structure.The second is to improve the existing frequency sensitivity equation to calculate the damage degree without constructing the finite elementmodel.Thismethod has been verified on a numerical example of a 22-story shear frame structure and an experimental example of a three-story steel shear structure.Based on numerical analysis and experimental data validation,it is shown that this method only needs to use the low-order modes of structural vibration to diagnose the defect location and damage degree,and does not require finite element modeling.The proposed method should be a very simple and practical defect diagnosis technique in engineering practice.

Millet Origin Identification Model Based on Near-infrared Spectroscopy

[Objectives]This study was conducted to clarify the difference of millet from different producing areas in near-infrared spectroscopy(NIRS)modeling.[Methods]Millet samples from six different regions were collected for NIRS analysis,and an origin identification model based on BP neural network was established.The competitive adaptive reweighted sampling(CARS)algorithm was used to extract characteristic wavelength variables,and a CARS-BP model was established on this basis.Finally,the CARS-BP model was compared with support vector machine(SVM),partial least squares discriminant analysis(PLS)and KNN models.[Results]The characteristic wavelengths were extracted by CARS,and the number of variables was reduced from 1845 to 130.The discrimination accuracy of the CARS-BP model for the samples from six producing areas reached 98.1%,which was better than SVM,PSL and KNN models.[Conclusions]NIRS can quickly and accurately identify the origin of millet,providing a new method and way for the origin identification and quality evaluation of millet.

Quantitative Identification of Delamination Damage in Composite Structure Based on Distributed Optical Fiber Sensors and Model Updating

Delamination is a prevalent type of damage in composite laminate structures.Its accumulation degrades structural performance and threatens the safety and integrity of aircraft.This study presents a method for the quantitative identification of delamination identification in composite materials,leveraging distributed optical fiber sensors and a model updating approach.Initially,a numerical analysis is performed to establish a parameterized finite element model of the composite plate.Then,this model subsequently generates a database of strain responses corresponding to damage of varying sizes and locations.The radial basis function neural network surrogate model is then constructed based on the numerical simulation results and strain responses captured from the distributed fiber optic sensors.Finally,a multi-island genetic algorithm is employed for global optimization to identify the size and location of the damage.The efficacy of the proposed method is validated through numerical examples and experiment studies,examining the correlations between damage location,damage size,and strain responses.The findings confirm that the model updating technique,in conjunction with distributed fiber optic sensors,can precisely identify delamination in composite structures.

Constitution identification model in traditional Chinese medicine based on multiple features

Objective To construct a precise model for identifying traditional Chinese medicine(TCM)constitutions;thereby offering optimized guidance for clinical diagnosis and treatment plan-ning;and ultimately enhancing medical efficiency and treatment outcomes.Methods First;TCM full-body inspection data acquisition equipment was employed to col-lect full-body standing images of healthy people;from which the constitutions were labelled and defined in accordance with the Constitution in Chinese Medicine Questionnaire(CCMQ);and a dataset encompassing labelled constitutions was constructed.Second;heat-suppres-sion valve(HSV)color space and improved local binary patterns(LBP)algorithm were lever-aged for the extraction of features such as facial complexion and body shape.In addition;a dual-branch deep network was employed to collect deep features from the full-body standing images.Last;the random forest(RF)algorithm was utilized to learn the extracted multifea-tures;which were subsequently employed to establish a TCM constitution identification mod-el.Accuracy;precision;and F1 score were the three measures selected to assess the perfor-mance of the model.Results It was found that the accuracy;precision;and F1 score of the proposed model based on multifeatures for identifying TCM constitutions were 0.842;0.868;and 0.790;respectively.In comparison with the identification models that encompass a single feature;either a single facial complexion feature;a body shape feature;or deep features;the accuracy of the model that incorporating all the aforementioned features was elevated by 0.105;0.105;and 0.079;the precision increased by 0.164;0.164;and 0.211;and the F1 score rose by 0.071;0.071;and 0.084;respectively.Conclusion The research findings affirmed the viability of the proposed model;which incor-porated multifeatures;including the facial complexion feature;the body shape feature;and the deep feature.In addition;by employing the proposed model;the objectification and intel-ligence of identifying constitutions in TCM practices could be optimized.

A Novel Agricultural Data Sharing Mode Based on Rice Disease Identification

In this paper,a variety of classical convolutional neural networks are trained on two different datasets using transfer learning method.We demonstrated that the training dataset has a significant impact on the training results,in addition to the optimization achieved through the model structure.However,the lack of open-source agricultural data,combined with the absence of a comprehensive open-source data sharing platform,remains a substantial obstacle.This issue is closely related to the difficulty and high cost of obtaining high-quality agricultural data,the low level of education of most employees,underdeveloped distributed training systems and unsecured data security.To address these challenges,this paper proposes a novel idea of constructing an agricultural data sharing platform based on a federated learning(FL)framework,aiming to overcome the deficiency of high-quality data in agricultural field training.

The Moderating Effect of Organizational Identification on Occupational Stress and Insomnia Among Nurses

Objective:To explore the relationship between organizational identification,occupational stress,and insomnia among nurses and to analyze the moderating role of organizational identification between occupational stress and insomnia.Methods:Through stratified sampling,720 nurses working in a tertiary A-level hospital in Shandong Province from March to May 2021 were surveyed using an effort-reward imbalance questionnaire,an organizational identification questionnaire,and the Athens Insomnia scale.Results:Organizational identification was negatively correlated with occupational stress and insomnia(r_(1)=-0.121,P_(1)<0.01;r_(2)=-0.144,P_(2)<0.01).Occupational stress was positively correlated with insomnia(r=0.379,P<0.01).Organizational identity significantly moderated nurses’occupational stress and insomnia(β=-0.192,t=-2.558,P<0.05).Conclusion:Occupational stress and organizational identification can predict insomnia.Organizational identification could negatively mediate the relationship between occupational stress and insomnia.Improving organizational identification may help alleviate insomnia symptoms by relieving occupational stress.

Advancing healthcare through laboratory on a chip technology:Transforming microorganism identification and diagnostics

In a recent case report in the World Journal of Clinical Cases,emphasized the crucial role of rapidly and accurately identifying pathogens to optimize patient treatment outcomes.Laboratory-on-a-chip(LOC)technology has emerged as a transformative tool in health care,offering rapid,sensitive,and specific identification of microorganisms.This editorial provides a comprehensive overview of LOC technology,highlighting its principles,advantages,applications,challenges,and future directions.Success studies from the field have demonstrated the practical benefits of LOC devices in clinical diagnostics,epidemiology,and food safety.Comparative studies have underscored the superiority of LOC technology over traditional methods,showcasing improvements in speed,accuracy,and portability.The future integration of LOC with biosensors,artificial intelligence,and data analytics promises further innovation and expansion.This call to action emphasizes the importance of continued research,investment,and adoption to realize the full potential of LOC technology in improving healthcare outcomes worldwide.

Hi-Z fault location identification on low voltage distribution systems using IoT-based digital twin model computation

Distribution feeders carry and supply power to industrial,commercial and residential loads from the point where sub-transmission(33 kV level)ends after stepping down to suitable voltages,such as 11 kV and further down to 400/230 V.In recent times,high impedance(Hi-Z)faults on distribution systems are creating unique challenges to utilities both from operational and safety perspectives.Most of these Hi-Z faults occur at dis-tribution voltages of 15 kV or below,with the problem being worse at lower voltages.Hi-Z fault detection technologies emerged and were developed and incorporated on embedded platforms,such as relays,reclosers and sensors,which protect and monitor distribution systems.Although these technologies can detect Hi-Z fault on feeders,most of them cannot identify the exact location of the fault.Specifically,there is no solution available in literature for detecting Hi-Z fault location on low voltage(LV)circuits like 3-phase 4-wire 400 V distribution network.In this paper,we introduce a novel and a unique algorithm to identify the location of Hi-Z faults using proposed smart metres IoT data-based distribution system load flow and digital twin model representation of the network.Furthermore,a case study on the standard 33 bus LV system clearly depicts the func-tionality of the proposed algorithm.

Interannual variability of boreal summer intraseasonal oscillation over the northwestern Pacific influenced by the Pacific Meridional Mode

During the boreal summer,intraseasonal oscillations exhibit significant interannual variations in intensity over two key regions:the central-western equatorial Pacific(5°S-5°N,150°E-150°W)and the subtropical Northwestern Pacific(10°-20°N,130°E-175°W).The former is well-documented and considered to be influenced by the ENSO,while the latter has received comparatively less attention and is likely influenced by the Pacific Meridional Mode(PMM),as suggested by partial correlation analysis results.To elucidate the physical processes responsible for the enhanced(weakened)intraseasonal convection over the subtropical northwestern Pacific during warm(cold)PMM years,the authors employed a moisture budget analysis.The findings reveal that during warm PMM years,there is an increase in summer-mean moisture over the subtropical northwestern Pacific.This increase interacts with intensified vertical motion perturbations in the region,leading to greater vertical moisture advection in the lower troposphere and consequently resulting in convective instability.Such a process is pivotal in amplifying intraseasonal convection anomalies.The observational findings were further verified by model experiments forced by PMM-like sea surface temperature patterns.

PARAMETER IDENTIFICATION OF LUGRE FRICTION MODEL FOR FLIGHT SIMULATION SERVO SYSTEM BASED ON ANT COLONY ALGORITHM

In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.

Identification of constitutive model parameters for nickel aluminum bronze in machining

The material of nickel aluminum bronze (NAB) presents superior properties such as high strength, excellent wear resistance and stress corrosion resistance and is extensively used for marine propellers. In order to establish the constitutive relation of NAB under high strain rate condition, a new methodology was proposed to accurately identify the constitutive parameters of Johnson?Cook model in machining, combining SHPB tests, predictive cutting force model and orthogonal cutting experiment. Firstly, SHPB tests were carried out to obtain the true stress?strain curves at various temperatures and strain rates. Then, an objective function of the predictive and experimental flow stresses was set up, which put the identified parameters of SHPB tests as the initial value, and utilized the PSO algorithm to identify the constitutive parameters of NAB in machining. Finally, the identified parameters were verified to be sufficiently accurate by comparing the values of cutting forces calculated from the predictive model and FEM simulation.

COMBINATION OF DISTRIBUTED KALMAN FILTER AND BP NEURAL NETWORK FOR ESG BIAS MODEL IDENTIFICATION

By combining the distributed Kalman filter （DKF） with the back propagation neural network （BPNN）,a novel method is proposed to identify the bias of electrostatic suspended gyroscope （ESG）. Firstly,the data sets of multi-measurements of the same ESG in different noise environments are ＂mapped＂ into a sensor network,and DKF with embedded consensus filters is then used to preprocess the data sets. After transforming the preprocessed results into the trained input and the desired output of neural network,BPNN with the learning rate and the momentum term is further utilized to identify the ESG bias. As demonstrated in the experiment,the proposed approach is effective for the model identification of the ESG bias.

Identification of Hammerstein Model Using Hybrid Neural Networks

The identification problem of Hammerstein model with extension to the multi input multi output (MIMO) case is studied. The proposed identification method uses a hybrid neural network (HNN) which consists of a multi layer feed forward neural network (MFNN) in cascade with a linear neural network (LNN). A unified back propagation (BP) algorithm is proposed to estimate the weights and the biases of the MFNN and the LNN simultaneously. Numerical examples are provided to show the efficiency of the proposed method.