This article studies the problem of deformation reduction and attitude tracking for a rotated and extended flexible crane arm with input backlash-saturation and output asymmetrical constraint. By employing Halmilton's principle, the arm system model is formulated by a set of partial and ordinary differential equations (ODEs). Given the modeling inaccuracy, a radial neural network (RNN) is used to approximate system parameters. To better design the controllers, the backstepping technique is applied to the control design. For input nonlinearities with backlash and saturation, we reversely transform them as an asymmetric saturation constraint via a virtual input. A barrier Lyapunov function (BLF) containing logarithmic terms is constructed to guarantee the asymmetric output constraints and the uniformly ultimate boundedness and stability of the arm system are proved. Finally, to testify the effectiveness of the proposed controllers, numerical simulations are carried out, and responding simulation diagrams are displayed.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1109/TNNLS.2021.3117251 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
In Vivo Confocal Microscopy for Automated Detection of Meibomian Gland Dysfunction: A Study Based on Deep Convolutional Neural Networks.
J Imaging Inform Med
January 2025
Department of Ophthalmology, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, National Clinical Research Center for Eye Disease, Shanghai, 200080, China.
The objectives of this study are to construct a deep convolutional neural network (DCNN) model to diagnose and classify meibomian gland dysfunction (MGD) based on the in vivo confocal microscope (IVCM) images and to evaluate the performance of the DCNN model and its auxiliary significance for clinical diagnosis and treatment. We extracted 6643 IVCM images from the three hospitals' IVCM database as the training set for the DCNN model and 1661 IVCM images from the other two hospitals' IVCM database as the test set to examine the performance of the model. Construction of the DCNN model was performed using DenseNet-169.
View Article and Find Full Text PDFAssessing the Image Quality of Digitally Reconstructed Radiographs from Chest CT.
J Imaging Inform Med
January 2025
Leiden University Medical Center (LUMC), Leiden, the Netherlands.
Rising computed tomography (CT) workloads require more efficient image interpretation methods. Digitally reconstructed radiographs (DRRs), generated from CT data, may enhance workflow efficiency by enabling faster radiological assessments. Various techniques exist for generating DRRs.
View Article and Find Full Text PDFMulti-class Classification of Retinal Eye Diseases from Ophthalmoscopy Images Using Transfer Learning-Based Vision Transformers.
J Imaging Inform Med
January 2025
College of Engineering, Department of Computer Engineering, Koç University, Rumelifeneri Yolu, 34450, Sarıyer, Istanbul, Turkey.
This study explores a transfer learning approach with vision transformers (ViTs) and convolutional neural networks (CNNs) for classifying retinal diseases, specifically diabetic retinopathy, glaucoma, and cataracts, from ophthalmoscopy images. Using a balanced subset of 4217 images and ophthalmology-specific pretrained ViT backbones, this method demonstrates significant improvements in classification accuracy, offering potential for broader applications in medical imaging. Glaucoma, diabetic retinopathy, and cataracts are common eye diseases that can cause vision loss if not treated.
View Article and Find Full Text PDFCryogenic in-memory computing using magnetic topological insulators.
Nat Mater
January 2025
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China.
Machine learning algorithms have proven to be effective for essential quantum computation tasks such as quantum error correction and quantum control. Efficient hardware implementation of these algorithms at cryogenic temperatures is essential. Here we utilize magnetic topological insulators as memristors (termed magnetic topological memristors) and introduce a cryogenic in-memory computing scheme based on the coexistence of a chiral edge state and a topological surface state.
View Article and Find Full Text PDFThe trajectory of crime: Integrating mouse-tracking into concealed memory detection.
Behav Res Methods
January 2025
Centre for Cognitive and Brain Sciences and Department of Psychology, University of Macau, Taipa, 999078, Macau, China.
The autobiographical implicit association test (aIAT) is an approach of memory detection that can be used to identify true autobiographical memories. This study incorporates mouse-tracking (MT) into aIAT, which offers a more robust technique of memory detection. Participants were assigned to mock crime and then performed the aIAT with MT.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!