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61.
A new approach to the design of a neural network (NN) based navigator is proposed in which the mobile robot travels to a pre-defined
goal position safely and efficiently without any prior map of the environment. This navigator can be optimized for any user-defined
objective function through the use of an evolutionary algorithm. The motivation of this research is to develop an efficient
methodology for general goal-directed navigation in generic indoor environments as opposed to learning specialized primitive
behaviors in a limited environment. To this end, a modular NN has been employed to achieve the necessary generalization capability
across a variety of indoor environments. Herein, each NN module takes charge of navigating in a specialized local environment,
which is the result of decomposing the whole path into a sequence of local paths through clustering of all the possible environments.
We verify the efficacy of the proposed algorithm over a variety of both simulated and real unstructured indoor environments
using our autonomous mobile robot platform. 相似文献
62.
Granular Neural Networks and Their Development Through Context-Based Clustering and Adjustable Dimensionality of Receptive Fields 总被引:1,自引:0,他引:1
In this study, we present a new architecture of a granular neural network and provide a comprehensive design methodology as well as elaborate on an algorithmic setup supporting its development. The proposed neural network relates to a broad category of radial basis function neural networks (RBFNNs) in the sense that its topology involves a collection of receptive fields. In contrast to the standard architectures encountered in RBFNNs, here we form individual receptive fields in subspaces of the original input space rather than in the entire input space. These subspaces could be different for different receptive fields. The architecture of the network is fully reflective of the structure encountered in the training data which are granulated with the aid of clustering techniques. More specifically, the output space is granulated with use of K-means clustering while the information granules in the multidimensional input space are formed by using the so-called context-based fuzzy C-means, which takes into account the structure being already formed in the output space. The innovative development facet of the network involves a dynamic reduction of dimensionality of the input space in which the information granules are formed in the subspace of the overall input space which is formed by selecting a suitable subset of input variables so that this subspace retains the structure of the entire space. As this search is of combinatorial character, we use the technique of genetic optimization [genetic algorithms (GAs), to be more specific] to determine the optimal input subspaces. A series of numeric studies exploiting synthetic data and data coming from the Machine Learning Repository, University of California at Irvine, provide a detailed insight into the nature of the algorithm and its parameters as well as offer some comparative analysis. 相似文献
63.
A functional biosurface applicable to a biomemory device was fabricated using ferritin, which is one of the globular protein complexes consisting of 24 protein subunits, which can be classified as metalloproteins. For the fabrication of uniform ferritin layer, 11-MUA(11-mercaptoundecanoic acid) was used as a linker material. The formation of the ferritin layer was confirmed by surface plasmon resonance (SPR) spectroscopy, and the morphology of the immobilized ferritin was analyzed by scanning tunneling microscopy (STM). The electrochemical redox property investigation was accomplished by the cyclic voltammetry (CV) technique. These results of adsorbed ferritin on the modified electrode can be used for the fabrication of bioelectronics. 相似文献
64.
Nanoporous polyimide films were prepared from triblock copolyimides. A thermally labile polymer, poly(propylene glycol), was incorporated into polyimides based on 4,4-(hexafluoroisopropylidene)diphthalic anhydride to obtain triblock copolyimides. Nanofoams were formed by thermolysis of the labile block. The thermal properties of the copolymers were investigated by thermogravimetric analysis (TGA) and differential scanning calorimetry (DSC). The nanopores were characterized by scanning electron microscopy (SEM). 相似文献
65.
A new type of silicon membrane structure was fabricated using wafer fusion bonding and two-step electrochemical etch-stopping methods. An active wafer of p-type epi/n-type epi/p-type substrate was first elctrochemically etched to form a shallow cavity on the p-type epitaxial layer. Then, the cavity-formed side was fusionally bonded with p-type silicon working wafer and, afterwards, the p-type substrate of the active wafer part was removed by a second electrochemical etch-stopping leaving only the n-type membrane on the shallow cavity. Using the new membrane structure in mechanical sensors, more precise control of cavity depth and membrane thickness was achievable and the influence of crystalline imperfections on the sensing circuits located near the bonding seam was avoidable. 相似文献
66.
The stable range of PbTiO3 sol and the processing conditions of uniform thin films were investigated using a solution of titanium isopropoxide, three kinds of alkanolamines (monoethanolamine, diethanolamine, triethanolamine), lead acetate trihydrate and isopropanol. Depending on the sol state with various alkanolamine/alkoxide molar ratios, diethanolamine (DEA) was very effective in preparing uniform and dense oxide films through room-temperature reaction, owing to its superior stability during the hydrolysis and condensation reaction. Perovskite PbTiO3 thin films were obtained on oxidized silicon wafer above 550 °C and completely pure films were obtained at 650 °C using DEA as a complexing agent. The dielectric constant and loss tangent of these thin films fired at 650 °C for 30 min were found to be 240 and 0.01 at 1 kHz, respectively. 相似文献
67.
A Takeshita H Sakamaki S Miyawaki T Kobayashi K Kuriyama O Yamada H Oh T Takenaka N Asou R Ohno 《Canadian Metallurgical Quarterly》1995,76(4):602-608
OBJECTIVE: For resuscitation of hemorrhagic hypovolemia, we compared the effectiveness of (1) isotonic lactated Ringer's solution (LRS), (2) 2400 mOsm of 7.5% NaCl:6% dextran 70 (HSD), and (3) 2400 mOsm of 7.9% sodium acetate:1.9% NaCl:6% dextran 70 (HAD). DESIGN: In six randomized, blinded experiments for each solution, conscious instrumented adult sheep were hemorrhaged by removing approximately 1.8 L (42 +/- 3 mL/kg) of blood, while maintaining the mean arterial pressure (MAP) at 50 mm Hg for 2 hours. METHODS: Test solutions were infused as needed to restore the cardiac index to baseline. RESULTS: Volume requirements with HAD (236 +/- 29 mL) and HSD (244 +/- 39 mL) were significantly less (p < 0.05) than LRS (3463 +/- 234 mL). Mean arterial pressure was normalized with HSD and LRS, but not with HAD, which resulted in MAPs of 20 to 25 mm Hg less than baseline resulting from a reduced peripheral resistance. Oxygen delivery, however, was significantly higher with HAD during the resuscitation period. Acid-base balance (pH) and oxygen consumption were normalized within 5 minutes of infusion only with HAD. CONCLUSIONS: Small-volume infusion with HAD resulting in "high-flow-low-pressure" resuscitation may offer unique hemodynamic and metabolic advantages for the initial treatment of hemorrhage from trauma. 相似文献
68.
Seung Gyo Jeong Jin Young Oh Lin Hao Jian Liu Woo Seok Choi 《Advanced functional materials》2023,33(38):2301770
Unexpected, yet useful functionalities emerge when two or more materials merge coherently. Artificial oxide superlattices realize atomic and crystal structures that are not available in nature, thus providing controllable correlated quantum phenomena. This review focuses on 4d and 5d perovskite oxide superlattices, in which the spin–orbit coupling plays a significant role compared with conventional 3d oxide superlattices. Modulations in crystal structures with octahedral distortion, phonon engineering, electronic structures, spin orderings, and dimensionality control are discussed for 4d oxide superlattices. Atomic and magnetic structures, Jeff = 1/2 pseudospin and charge fluctuations, and the integration of topology and correlation are discussed for 5d oxide superlattices. This review provides insights into how correlated quantum phenomena arise from the deliberate design of superlattice structures that give birth to novel functionalities. 相似文献
69.
Hardware security primitives, also known as physical unclonable functions (PUFs), perform innovative roles to extract the randomness unique to specific hardware. This paper proposes a novel hardware security primitive using a commercial off-the-shelf flash memory chip that is an intrinsic part of most commercial Internet of Things (IoT) devices. First, we define a hardware security source model to describe a hardware-based fixed random bit generator for use in security applications, such as cryptographic key generation. Then, we propose a hardware security primitive with flash memory by exploiting the variability of tunneling electrons in the floating gate. In accordance with the requirements for robustness against the environment, timing variations, and random errors, we developed an adaptive extraction algorithm for the flash PUF. Experimental results show that the proposed flash PUF successfully generates a fixed random response, where the uniqueness is 49.1%, steadiness is 3.8%, uniformity is 50.2%, and min-entropy per bit is 0.87. Thus, our approach can be applied to security applications with reliability and satisfy high-entropy requirements, such as cryptographic key generation for IoT devices. 相似文献
70.
International Journal of Computer Vision - This paper studies robust regression for data on Riemannian manifolds. Geodesic regression is the generalization of linear regression to a setting with a... 相似文献