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Intelligent Assistance for Older Adults via an Admittance-Controlled Wheeled Mobile Manipulator with Task-Dependent End-Effectors
Download2022-01-01
The increase in the ageing population worldwide poses a severe challenge in assisting older individuals to live independently, including the provision of mobility assistance and support in daily activities. In this paper, a practical robotic system is developed to provide intelligent support for...
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Faster-Than-Real-Time Hardware Emulation of Transients and Dynamics of a Grid of Microgrids
Download2022-10-01
Shiqi Cao, Ning Lin, Venkata Dinavahi
Enhanced environmental standards are leading to an increasing proportion of microgrids (MGs) being integrated with renewable energy resources in modern power systems, which brings new challenges to simulate such a complex system. In this work, comprehensive modeling of a grid of microgrids...
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2022-10-01
In the wide area measurement system (WAMS) of smart grid, the real-time monitoring and protection applications have stringent requirements for the end-to-end transmission delays between PMUs and PDC, and fast failover is required to ensure the communication performance after link failures. In...
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Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
Download2022-11-03
Teng Li, Xiao Meng, Mahdi Tavakoli
ABSTRACT: The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are a promising way to avoid physical...
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2022-01-01
Bakhtiar, Aishah, Hadwin, Allyson F.
Self-regulation of learning involves developing metacognitive awareness (planning, monitoring, and evaluating) of (a) cognition—motivational beliefs, (b) behaviours—persistence, effort, engagement, and (c) affect—enjoyment, interest, and other emotions. Metacognitive awareness creates...
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2022-01-01
Hoque, Md. S., Saha, A., Chung, H., Dolez, P. I.
Fire-protective fabrics made from high-performance fibers are available to provide protection from various hazardous conditions such as extreme heat and flame. However, these fabrics are often exposed to other deteriorating conditions, including moisture. It is a concern for the user's safety as...
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Fairness and Utilitarianism in Allocating Energy to EVs during Power Contingencies Using Modified Division Rules
Download2022-03-25
Hussain, Akhtar, Musilek, Petr
In order to maximize utilitarianism and fairness in allocating energy to electric vehicles (EVs) during outages, this study proposes an optimization method based on modified division rules. The idea of essential energy demand is introduced in this paper to maximize the number of EVs that are...
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Real-Time Nonlinear Behavioral Electro-Thermal Device-Level Emulation of IGBT on Heterogeneous Adaptive Compute Acceleration Platform
Download2022-11-01
Bingrong Shang, Tianshi Cheng, Tian Liang, Ning Lin, Venkata Dinavahi
Power converter design evaluation by means of real-time simulation techniques is prevalent, although it is mostly restricted to simple power semiconductor switch models that exclude device-level physical details. In this work, the nonlinear high-order electro-thermal model of the Insulated-gate...
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A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills
Download2022-01-01
Abed Soleymani, Xingyu Li, Mahdi Tavakoli
In this study, we present an intuitive machine learningbased approach to evaluate and interpret surgical skills level of a participant working with robotic platforms. The proposed method is domain-adapted, i.e., jointly utilizes an end-to-end learning approach for smoothness detection and domain...