Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Mobile Networks and Applications - Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in...     

Machine learning algorithm selection for windage alteration fault diagnosis of mine ventilation system

Machine learning algorithms have been widely used in mine fault diagnosis. The correct selection of the suitable algorithms is the key factor that affects the fault diagnosis. However, the impact of machine learning algorithms on the prediction performance of mine fault diagnosis models has not been fully evaluated. In this study, the windage alteration faults (WAFs) diagnosis models, which are based on K-nearest neighbor algorithm (KNN), multi-layer perceptron (MLP), support vector machine (SVM), and decision tree (DT), are constructed. Furthermore, the applicability of these four algorithms in the WAFs diagnosis is explored by a T-type ventilation network simulation experiment and the field empirical application research of Jinchuan No. 2 mine. The accuracy of the fault location diagnosis for the four models in both networks was 100%. In the simulation experiment, the mean absolute percentage error (MAPE) between the predicted values and the real values of the fault volume of the four models was 0.59%, 97.26%, 123.61%, and 8.78%, respectively. The MAPE for the field empirical application was 3.94%, 52.40%, 25.25%, and 7.15%, respectively. The results of the comprehensive evaluation of the fault location and fault volume diagnosis tests showed that the KNN model is the most suitable algorithm for the WAFs diagnosis, whereas the prediction performance of the DT model was the second-best. This study realizes the intelligent diagnosis of WAFs, and provides technical support for the realization of intelligent ventilation.     

0–1膨胀几何分布的客观贝叶斯分析

在医疗卫生、金融证券等应用领域，经常会同时出现零观测值、一观测值较多的情况. 为更好地拟合这类数据，提出0–1膨胀几何分布模型并进行客观贝叶斯分析. 通过参数变换，得到Jeffreys先验和reference先验. 设计后验分布的抽样算法，设置不同的样本量和参数真值，采用数值模拟方法对不同客观先验下的估计效果进行评估.     

Strain facilitated small gas molecules sensing properties on Au doped SnSe2 monolayer

By the first-principles calculations, the sensitivity of CO, H₂O and NO adsorption on Au doped SnSe₂ monolayer surface is investigated. The results show that CO and H₂O molecules are physically adsorbed on Au doped SnSe₂ monolayer and act as donors to transfer 0.012 e and 0.044 e to the substrate, respectively. However, the NO molecule is chemically adsorbed on substrate and acts as an acceptor to obtain 0.116 e from the substrate. In addition, our results also show that the biaxial strain can effectively improve the adsorption energy and charge transfer of gas molecules adsorbed on the substrate surface. Also, the recovery time of desorbed gas molecules on the substrate surface is calculated, and the results indicate that the Au doped SnSe₂ is a perfect sensing material for detection and recovery of CO and NO under ?8% strain.     

Optimization methods in inverse problems and applications to science and engineering

Optimization and Engineering -     

Carbon corrosion mechanism on nitrogen-doped carbon support — A density functional theory study

In this work, density functional theory (DFT) calculations were used to investigate the mechanism of carbon corrosion on nitrogen-doped carbon support. Free energy diagrams were generated based on three proposed reaction pathways to evaluate corrosion mechanisms. The most energetically preferred mechanism on nitrogen-doped carbon was determined. The results show that the step of water dissociation to form ^#OH was the rate-determining step for gra-G-1N (graphene doped with graphitic N) and pyrr-G-1N (graphene doped with pyrrolic N). As for graphene doped with pyridinic N, the step of C^#OC^#O formation was critical. It was found that the control of nitrogen concentration was necessary for precisely designing optimized carbon materials. Abundance of nitrogen moieties aggravated the carbon corrosion. When the high potential was applied, specific types of graphitic N and pyridinic N were found to be favorable carbon modifications to improve carbon corrosion resistance. Moreover, the solvent effect was also investigated. The results provide theoretical insights and design guidelines to improve corrosion resistance in carbon support through material modification by inhibiting the adsorption of surface oxides (OH, O, and OOH).     

Wear and corrosion properties of wollastonite and boron nitride doped,hydroxyapatite-based HAp-Wo-BN composite coatings prepared by pulsed laser deposition

In this study, hydroxyapatite-based hydroxyapatite-wollastonite-boron nitride (HAp-Wo-BN) composite film was formed on the surface of Ti6Al4V by pulsed laser deposition (PLD). Based on a survey in scientific literature, it is presumed that this is the first time such a process is being undertaken. The wear and corrosion resistance of this film were analyzed comparatively in simulated body fluid (SBF) to simulate the human body environment. In the coating, HAp was used to form a bone-like layer, wollastonite was to enhance bone-tissue regeneration and BN was used for its bone-tissue healing and anti-bacterial properties. The results showed that the wear as well as the corrosion resistance of all samples after PLD treatment increased. Relatively the best wear resistance was achieved from boron nitride and wollastonite doped hydroxyapatite layers, where the best corrosion resistance was from the ones that consisted of only hydroxyapatite.     

Coupled steering control of a low torsional torque capsule robot in the intestine

In order to avoid the distortion dangers to the colon, caused by spiral-type capsule robot, a Low Torsional Torque Capsule Robot (LTTCR) is developed, capable of non-contact steering swimming motion in a tortuous pipe, filled with silicone oil. Due to the non-contact and suspension state of motion, the robot is isolated from the colon and inner pipe wall, achieving low torsional effect on the intestines. Based on the coupling principle of magnetic field, a spatial magnetic torque model is derived, while a method for detecting the critical coupling magnetic torque, in tortuous environment, is proposed. The fluid resistance torque in straight and tortuous pipes is studied, deriving the scope of stable steering. Simulation and experimental results have shown that higher commutation and slip angles are beneficial to robot steering, and the swimming speed of LTTCR is higher and the twist impact on the colon, during the steering process, is lower. The LTTCR has a promising prospect in non-invasive examination applications in the sectors of diagnosis and treatment, inside the human body.     

Efficient watermarking technique for protection and authentication of document images

Multimedia Tools and Applications - In this paper, a hashing based watermarking technique for the protection and authentication of document image is proposed. Message Digest 5 (MD5) hashing is...     

Automatic design for shop scheduling strategies based on hyper-heuristics: A systematic review

Against the background of smart manufacturing and Industry 4.0, how to achieve real-time scheduling has become a problem to be solved. In this regard, automatic design for shop scheduling based on hyper-heuristics has been widely studied, and a number of reviews and scheduling algorithms have been presented. Few studies, however, have specifically discussed the technical points involved in algorithm development. This study, therefore, constructs a general framework for automatic design for shop scheduling strategies based on hyper-heuristics, and various state-of-the-art technical points in the development process are summarized. First, we summarize the existing types of shop scheduling strategies and classify them using a new classification method. Second, we summarize an automatic design algorithm for shop scheduling. Then, we investigate surrogate-assisted methods that are popular in the current algorithm field. Finally, current problems and challenges are discussed, and potential directions for future research are proposed.