scholarly journals How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

2021 ◽  
Vol 7 ◽  
Author(s):  
Priyanka Rao ◽  
Quentin Peyron ◽  
Sven Lilge ◽  
Jessica Burgner-Kahrs
Keyword(s):  
Case Studies ◽  
State Of The Art ◽  
Computation Time ◽  
Comprehensive Overview ◽  
Continuum Robots ◽  
Current State ◽  
Selection Of ◽  
Modelling Approaches

Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.

scholarly journals Soft Threshold Ternary Networks

2020 ◽  
Author(s):  
Weixiang Xu ◽  
Xiangyu He ◽  
Tianli Zhao ◽  
Qinghao Hu ◽  
Peisong Wang ◽  
...  
Keyword(s):  
Neural Networks ◽  
Mobile Devices ◽  
State Of The Art ◽  
Performance Gap ◽  
Training Time ◽  
Current State ◽  
The Arts ◽  
Soft Threshold ◽  
And Storage ◽  
Selection Of

Large neural networks are difficult to deploy on mobile devices because of intensive computation and storage. To alleviate it, we study ternarization, a balance between efficiency and accuracy that quantizes both weights and activations into ternary values. In previous ternarized neural networks, a hard threshold Δ is introduced to determine quantization intervals. Although the selection of Δ greatly affects the training results, previous works estimate Δ via an approximation or treat it as a hyper-parameter, which is suboptimal. In this paper, we present the Soft Threshold Ternary Networks (STTN), which enables the model to automatically determine quantization intervals instead of depending on a hard threshold. Concretely, we replace the original ternary kernel with the addition of two binary kernels at training time, where ternary values are determined by the combination of two corresponding binary values. At inference time, we add up the two binary kernels to obtain a single ternary kernel. Our method dramatically outperforms current state-of-the-arts, lowering the performance gap between full-precision networks and extreme low bit networks. Experiments on ImageNet with AlexNet (Top-1 55.6%), ResNet-18 (Top-1 66.2%) achieves new state-of-the-art.

scholarly journals OPWUM: Opportunistic MAC Protocol Leveraging Wake-Up Receivers in WSNs

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Fayçal Ait Aoudia ◽  
Matthieu Gautier ◽  
Olivier Berder
Keyword(s):  
Power Consumption ◽  
Analytical Study ◽  
State Of The Art ◽  
Mac Protocol ◽  
Promising Technique ◽  
Improve Energy Efficiency ◽  
Current State ◽  
Unreliable Links ◽  
Careful Design ◽  
Selection Of

Opportunistic forwarding has emerged as a promising technique to address the problem of unreliable links typical in wireless sensor networks and improve energy efficiency by exploiting multiuser diversity. Timer-based solutions, such as timer-based contention, form promising schemes to allow opportunistic next hop relay selection. However, they can incur significant idle listening and thus reduce the lifetime of the network. To tackle this problem, we propose to exploit emerging wake-up receiver technologies that have the potential to considerably reduce the power consumption of wireless communications. A careful design of MAC protocols is required to efficiently employ these new devices. In this work, we propose Opportunistic Wake-Up MAC (OPWUM), a novel multihop MAC protocol using timer-based contention. It enables the opportunistic selection of the best receiver among its neighboring nodes according to a given metric (e.g., the remaining energy), without requiring any knowledge about them. Moreover, OPWUM exploits emerging wake-up receivers to drastically reduce nodes power consumption. Through analytical study and exhaustive networks simulations, we show the effectiveness of OPWUM compared to the current state-of-the-art protocols using timer-based contention.

scholarly journals Joint epitope selection and spacer design for string-of-beads vaccines

2020 ◽  
Vol 36 (Supplement_2) ◽  
pp. i643-i650
Author(s):  
Emilio Dorigatti ◽  
Benjamin Schubert
Keyword(s):  
Antigen Processing ◽  
State Of The Art ◽  
Supplementary Information ◽  
Current State ◽  
Fixed Set ◽  
Epitope Selection ◽  
High Chance ◽  
Selection Of ◽  
Design Steps

Abstract Motivation Conceptually, epitope-based vaccine design poses two distinct problems: (i) selecting the best epitopes to elicit the strongest possible immune response and (ii) arranging and linking them through short spacer sequences to string-of-beads vaccines, so that their recovery likelihood during antigen processing is maximized. Current state-of-the-art approaches solve this design problem sequentially. Consequently, such approaches are unable to capture the inter-dependencies between the two design steps, usually emphasizing theoretical immunogenicity over correct vaccine processing, thus resulting in vaccines with less effective immunogenicity in vivo. Results In this work, we present a computational approach based on linear programming, called JessEV, that solves both design steps simultaneously, allowing to weigh the selection of a set of epitopes that have great immunogenic potential against their assembly into a string-of-beads construct that provides a high chance of recovery. We conducted Monte Carlo cleavage simulations to show that a fixed set of epitopes often cannot be assembled adequately, whereas selecting epitopes to accommodate proper cleavage requirements substantially improves their recovery probability and thus the effective immunogenicity, pathogen and population coverage of the resulting vaccines by at least 2-fold. Availability and implementation The software and the data analyzed are available at https://github.com/SchubertLab/JessEV. Supplementary information Supplementary data are available at Bioinformatics online.

scholarly journals Joint epitope selection and spacer design for string-of-beads vaccines

2020 ◽  
Author(s):  
Emilio Dorigatti ◽  
Benjamin Schubert
Keyword(s):  
Antigen Processing ◽  
State Of The Art ◽  
Computational Approach ◽  
Population Coverage ◽  
Current State ◽  
Fixed Set ◽  
Epitope Selection ◽  
High Chance ◽  
Selection Of ◽  
Design Steps

AbstractMotivationConceptually, epitope-based vaccine design poses two distinct problems: (1) selecting the best epitopes eliciting the strongest possible immune response, and (2) arranging and linking the selected epitopes through short spacer sequences to string-of-beads vaccines so as to increase the recovery likelihood of each epitope during antigen processing. Current state-of-the-art approaches solve this design problem sequentially. Consequently, such approaches are unable to capture the inter-dependencies between the two design steps, usually emphasizing theoretical immunogenicity over correct vaccine processing and resulting in vaccines with less effective immunogencity.ResultsIn this work, we present a computational approach based on linear programming that solves both design steps simultaneously, allowing to weigh the selection of a set of epitopes that have great immunogenic potential against their assembly into a string-of-beads construct that provides a high chance of recovery. We conducted Monte-Carlo cleavage simulations to show that, indeed, a fixed set of epitopes often cannot be assembled adequately, whereas selecting epitopes to accommodate proper cleavage requirements substantially improves their recovery probability and thus the effective immunogenicity, pathogen, and population coverage of the resulting vaccines by at least two fold.AvailabilityThe software and the data analyzed are available at https://github.com/SchubertLab/JessEV

Metrics in routing protocol for wireless mesh networks

2013 ◽  
Vol 18 (4) ◽  
pp. 7-20 ◽  
Author(s):  
Piotr Owczarek ◽  
Piotr Zwierzykowski
Keyword(s):  
Quality Assessment ◽  
Routing Protocol ◽  
Ad Hoc ◽  
Mesh Networks ◽  
State Of The Art ◽  
Routing Metrics ◽  
Wireless Mesh ◽  
Current State ◽  
Selection Of ◽  
Network Type

Abstract The interest in services offered by wireless network has been growing for many years. It has encouraged the development of wireless technologies. New solutions are able to satisfy the ever-increasing demands concerning wireless services. It is also evident in the diversification of quality assessment methods employed with reference to connections used in such networks. One of the basic elements used in connection quality assessment are metrics. The use of metrics is directly linked to the type of the routing protocol applied in a given network. The selection of a given routing protocol is often determined by its specific properties that might be advantageous in a certain network type, or that are important in terms of the type or scope of services provided. Therefore, it is easy to identify a relationship between metrics and the area of application of a given routing protocol. The significance and diversity of metrics is also reflected inWireless Mesh Networks (WMNs). The proposed paper presents a review of the current state-of-the-art routing metrics for Ad-hoc and WMN networks

scholarly journals Continuous Backbone “Continuum” Robot Manipulators

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-19 ◽  
Author(s):  
Ian D. Walker
Keyword(s):  
Dynamic Models ◽  
State Of The Art ◽  
Robot Manipulators ◽  
Complex Environments ◽  
Continuum Robots ◽  
Ongoing Research ◽  
Rigid Link ◽  
Future Developments ◽  
Current State ◽  
Continuum Robot

This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.

Stochastic Process Model for the Optimization of a Rotorcraft with Categorical Variables

2014 ◽  
Vol 59 (4) ◽  
pp. 1-14 ◽  
Author(s):  
José Valenzuela del Río ◽  
Dimitri Mavris
Keyword(s):  
Stochastic Process ◽  
Process Model ◽  
State Of The Art ◽  
Categorical Variables ◽  
Efficient Global Optimization ◽  
Current State ◽  
Computationally Intensive ◽  
Search Design ◽  
Pareto Fronts ◽  
Selection Of

This paper proposes an improved stochastic process model for the selection of categorical variables, such as airfoils and materials, in rotorcraft design. This process leverages trends in typical rotorcraft conceptual design objectives that are similar across different categories. Also, this paper extends the use of efficient global optimization (EGO) algorithms, which intelligently search design spaces, to the previously proposed stochastic process thereby enabling the use of more computationally intensive tools earlier in the design process. To optimize the EGO infill criterion, a genetic algorithm is developed that is capable of searching domains with categorical variables. The proposed stochastic process model is successfully tested against traditional independent surrogates when approximating the engine shaft horsepower of the UH-60A with a choice of airfoils. Finally, a test to optimize the UH-60A engine shaft horsepower at two flight conditions demonstrates that the proposed extension of the EGO algorithm is more efficient at finding the Pareto fronts than the current state-of-the-art.

Conference Summary, Strategic Science Symposium

2003 ◽  
Vol 127 (5) ◽  
pp. 549-553 ◽  
Author(s):  
Richard J. Zarbo ◽  
M. Elizabeth H. Hammond
Keyword(s):  
State Of The Art ◽  
New Technology ◽  
Regulatory Compliance ◽  
Assessment Practice ◽  
Current State ◽  
Her 2 ◽  
Education Model ◽  
Billing And Coding ◽  
Science Symposium ◽  
Selection Of

Abstract Context.—Practicing pathologists often encounter controversial clinical issues and nonstandardized laboratory approaches to the evolving science of predictive/prognostic tumor marker assays. This dilemma becomes especially acute when the assay is the sole determinant for selection of a specific therapy. Objectives.—To summarize the areas of practical agreement and identify opportunities for improvement in Her-2/neu testing of breast cancer. Design.—The College of American Pathologists created a new comprehensive education model, called Strategic Science, with expert speakers integrating new and evolving basic, clinical, and scientific issues of Her-2/neu testing with aspects of laboratory management. Setting.—Symposium held May 4 and 5, 2002, in Rosemont, Ill. Participants.—Ten speakers and more than 100 attendees. Results.—Components addressed were new technology assessment, practice guidelines, quality assurance, regulatory compliance, risk and liability, billing and coding, cost analysis, consultation, information management, and results reporting. Conclusions.—This Strategic Science symposium derived areas of practical agreement, defined the current state-of-the-art, and identified areas for improvement in Her-2/neu testing.

Tunable nanofibril heterojunctions for controlling interfacial charge transfer in chemiresistive gas sensors

2019 ◽  
Vol 7 (44) ◽  
pp. 13709-13735 ◽  
Author(s):  
Shuai Chen ◽  
Nan Gao ◽  
Benjamin R. Bunes ◽  
Ling Zang
Keyword(s):  
Charge Transfer ◽  
Gas Sensors ◽  
State Of The Art ◽  
Comprehensive Overview ◽  
Interfacial Charge Transfer ◽  
Current State ◽  
Chemiresistive Gas Sensors ◽  
Interfacial Charge

A comprehensive overview of the current state of the art of chemiresistive sensors based on tunable nanofibril heterojunctions for controlling interfacial charge transfer.

scholarly journals Paper in Motion: Communication, Knowledge and Power: Case Studies for an Interdisciplinary Approach

2021 ◽  
Vol 23 ◽  
pp. 81-112
Author(s):  
José María Pérez Fernández
Keyword(s):  
Complex Networks ◽  
Case Studies ◽  
State Of The Art ◽  
Interdisciplinary Approach ◽  
Social Dimensions ◽  
Material Medium ◽  
Current State ◽  
The Mediterranean ◽  
Political Economic

This essay intends to use a series of case studies to exemplify the role of paper as (1) material medium for communication and consequently for the establishment of human communities and institutions, including the normative patterns employed in their administration and the emotional ties that generated and pervaded them, and (2) as a trope that denotes the nature and the function of the information, emotions and values it is used to record and convey. After a survey of the current state of the art, the case studies will illustrate how the different uses and functions of paper determined strategies and methods employed in the administration of the movement of people, ideas, and goods, and in the creation of complex networks (political, economic, religious, and intellectual) across the Mediterranean and beyond. There will be a particular focus upon the circulation of texts and documents involved in the articulation of discursive varieties for the expression of both subjective and collective emotional identities and for the establishment of the norms that regulated their public and social dimensions.

Sign in / Sign up

Export Citation Format

Share Document