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Journal articles on the topic 'Payload identification'

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Author: Grafiati
Published: 14 March 2023

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1

Dong, Yunfei, Tianyu Ren, Ken Chen, and Dan Wu. "An efficient robot payload identification method for industrial application." Industrial Robot: An International Journal 45, no. 4 (June 18, 2018): 505–15. http://dx.doi.org/10.1108/ir-03-2018-0037.

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Purpose This paper aims to improve the accuracy of robot payload identification and decrease the complexity in its industrial application by developing a new method based on the actuator current. Design/methodology/approach Instead of previous general robot dynamic modeling of the actuators, links, together with payload inertial parameters, the paper discovers that the difference of the actuator torque between the robot moving along the same trajectory with and without carrying payload can be described as a function of the payload inertial parameters directly. Then a direct dynamic identification model of payload is built, a set of specialized novel exciting trajectories are designed for accurate identification and the least square method is applied for the estimation of the load parameters. Findings The experiments confirm the effectiveness of the proposed method in robot payload identification. The identification accuracy is greatly improved compared with that of existing methods based on the actuator current and is close to the accuracy of the methods that direct use the wrist-mounted force-torque sensor. Practical implications As the provided experiments indicate, the proposed method expands the application range and greatly improves the accuracy, hence making payload identification fully operational in the industrial application. Originality/value The novelty of such an identification method is that it does not require the rotor inertias and inertial parameters of links as a prior knowledge, and the specially designed trajectories provide completed decoupling of the load parameters.
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2

Ni, Zhiyu, Yewei Zhang, Xinhui Shen, Shunan Wu, and Zhigang Wu. "Payload parameter identification method of flexible space manipulator." Aircraft Engineering and Aerospace Technology 92, no. 6 (May 18, 2020): 925–38. http://dx.doi.org/10.1108/aeat-06-2019-0128.

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Purpose When a manipulator captures an unknown space object, inertia parameters of endpoint payload should be timely obtained to handle possible unexpected parameter variations and monitor the system’s operating conditions. Therefore, this study aims to present an identification method for estimating the inertia parameter of the payload carried by a flexible two-link space manipulator. Design/methodology/approach The original nonlinear dynamics model of the manipulator is linearized at a selected working point. Subsequently, the system modal frequencies with and without payload are determined using the subspace identification algorithm, and the difference of these frequencies is computed. Furthermore, by adjusting the structural configuration of the manipulator, multiple sets of frequency differences are obtained. Therefore, the inertia parameters of the payload, i.e. the mass and the moment of inertia, can be derived from the frequency differences by solving a least-squares problem. Findings The proposed method can effectively estimate the payload parameters and has satisfactory identification accuracy. Practical implications The approach’s implementation provides a practical reference for determining inertia parameters of an unknown space target in the capture process. Originality/value The study proposes a novel method for identifying the inertia parameters of the payload of a flexible two-link space manipulator using the estimated system frequencies.
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3

Doster, Hunter, and Barry Mullins. "UAV Payload Identification with Acoustic Emissions and Cell Phones." International Conference on Cyber Warfare and Security 18, no. 1 (February 28, 2023): 523–33. http://dx.doi.org/10.34190/iccws.18.1.956.

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The growing presence of Unmanned Aerial Vehicles (UAVs) in all sectors of society poses new security threats to civilian and military sectors. In response, new UAV detection systems have and are being developed. Current systems use techniques such as Radio Detection And Ranging (RADAR), visual recognition, and Radio Frequency (RF). Another promising solution for UAV detection uses acoustic emissions. Past researchers demonstrated the ability to use UAV acoustic signatures to determine whether a UAV carries a payload and the weight of that payload at close range with high-quality microphones. This research expands the field of study by performing acoustic payload detection using cell phones and at farther range by developing the system called HurtzHunter. The system collects audio data and extracts Mel-Frequency Cepstrum Coefficients (MFCCs) to train Support Vector Machines (SVMs). The HurtzHunter system tests acoustic payload detection with one high-quality microphone and six different cell phones at 7 m - 100 m ground distance from the UAV. At each distance, the experiment runs 6 flights each with a unique payload attached to the UAV. The HurtzHunter design achieves an 88.26% - 99.93% payload prediction accuracy depending on the configuration.
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4

Ward, Michael, Mark Costello, and Nathan Slegers. "Specialized System Identification for Parafoil and Payload Systems." Journal of Guidance, Control, and Dynamics 35, no. 2 (March 2012): 588–97. http://dx.doi.org/10.2514/1.53364.

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5

Chen, Jian-Shiang, and Chia-Hsiang Menq. "Modeling and adaptive control of a flexible one-link manipulator." Robotica 8, no. 4 (October 1990): 339–45. http://dx.doi.org/10.1017/s0263574700000461.

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SUMMARYThe dynamics modeling and payload adaptability of a light-weight flexible one-link manipulator are studied. Using the FEM (Finite-Element Method) model of a flexible manipulator, a lower order Linear Quadratic Gaussian compensator can provide satisfactory performance without controller/observer spillover. Moreover, the payload can be separated from the beam model, therefore, it is expected that the identification algorithm should have better robustness than the other schemes. The simulation results have shown that the proposed payload-adaptation synthesizer, which synthesizes a payload identifier and a nominal regulator/estimator interpolator to obtain a near-optimal compensator, has good adaptability with varying payload. And the resulting synthesizer also provides a near-optimal damping for this sensor-actuator noncolocated system.
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6

Ni, Zhiyu, Shunan Wu, Yewei Zhang, and Zhigang Wu. "Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation." International Journal of Aerospace Engineering 2020 (February 5, 2020): 1–17. http://dx.doi.org/10.1155/2020/5142925.

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Manipulator systems are widely used in payload capture and movement in the ground/space operation due to their dexterous manipulation capability. In this study, a method for identifying the payload parameters of a flexible space manipulator using the estimated system of complex eigenvalue matrix is proposed. The original nonlinear dynamic model of the manipulator is linearized at a selected working point. Subsequently, the system state-space model and corresponding complex eigenvalue parameters are determined by the observer/Kalman filter identification algorithm using the torque input signal of the motor and the vibration output signals of the link. Therefore, the inertia parameters of the payload, that is, the mass and the moment of inertia, can be derived from the identified complex eigenvalue system and mode shapes by solving a least-squares problem. In numerical simulations, the proposed parameter identification method is implemented and compared with the classical recursive least-squares and affine projection sign algorithms. Numerical results demonstrate that the proposed method can effectively estimate the payload parameters with satisfactory accuracy.
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7

Smoczek, Jaroslaw, Janusz Szpytko, and Pawel Hyla. "Non-Collision Path Planning of a Payload in Crane Operating Space." Solid State Phenomena 198 (March 2013): 559–64. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.559.

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The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the automation of the operating workspace identification, non-collision and time-optimal path planning, and real-time following a payload along the determined path by crane motion mechanisms with expected precision. The paper describes the stereo vision based system used for identification of workspace of the laboratory scaled overhead travelling crane. The time-optimal trajectory of a payload is determined by using the A-star graph searching algorithm, and next real-time trucking by PLC-based crane control system.
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8

Malgaca, Levent, and Şefika İpek Lök. "Measurement and modeling of a flexible manipulator for vibration control using five-segment S-curve motion." Transactions of the Institute of Measurement and Control 44, no. 8 (December 6, 2021): 1545–56. http://dx.doi.org/10.1177/01423312211059012.

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User designed manipulators are widely used in industry as a part of automation. The design of lighter robotic arms is required for less energy consumption. Joints, structural features, and payload affect the dynamic behavior of manipulators. Even if the arms have sufficient structural rigidity, joints, or payloads further increase their flexibility. These factors should be considered at the design stage. Flexibility causes vibrations, and these vibrations negatively affect robot repeatability and processing speed. Reducing the vibration levels of flexible manipulators is an attractive issue for engineers and researchers. Accurate estimation of the mathematical model of flexible manipulators increases the success of vibration control. In this paper, the modeling and experiments for vibration control of a single-axis flexible curved manipulator with payload are considered. The experimental system is introduced to collect vibration responses synchronously at the tip of the curved manipulator for angular velocity input. The mathematical model of the manipulator is estimated using the continuous-time system identification (CTSI) method with a black-box model based on the experimental input/output (I/O) signals. A five-segment S-curve motion input based on the modal parameters is designed to suppress residual vibrations. Vibration control is successfully performed for different deceleration times of the designed S-curve motion input. The results showed that the residual vibrations from experiments and predicted models matched well for different cases depending on payload, angular position, and motion time.
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9

Falezza, Fabio, Federico Vesentini, Alessandro Di Flumeri, Luca Leopardi, Gianni Fiori, Gianfrancesco Mistrorigo, and Riccardo Muradore. "Gray-Box Model Identification and Payload Estimation for Delta Robots." IFAC-PapersOnLine 53, no. 2 (2020): 8771–76. http://dx.doi.org/10.1016/j.ifacol.2020.12.1378.

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10

WAIZUMI, Yuji, Tsuyoshi SATO, and Kazuyuki TANAKA. "Network Application Identification Using Sequential Transition Patterns of Payload Length." Interdisciplinary Information Sciences 18, no. 2 (2012): 189–96. http://dx.doi.org/10.4036/iis.2012.189.

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11

Cheng, Qiumei, Chunming Wu, Haifeng Zhou, Dezhang Kong, Dong Zhang, Junchi Xing, and Wei Ruan. "Machine learning based malicious payload identification in software-defined networking." Journal of Network and Computer Applications 192 (October 2021): 103186. http://dx.doi.org/10.1016/j.jnca.2021.103186.

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12

KATSUMATA, Takuma, Shohei HAGANE, Benjamin NAVARO, Philippe FRAISSE, and Gentiane VENTURE. "Adaptive cartesian force control using payload dynamics and geometric identification." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 1P1—H11. http://dx.doi.org/10.1299/jsmermd.2017.1p1-h11.

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13

Veena, S. T., and S. Arivazhagan. "Universal secret payload location identification in spatial LSB stego images." Annals of Telecommunications 74, no. 5-6 (November 16, 2018): 273–86. http://dx.doi.org/10.1007/s12243-018-0676-x.

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14

Chen, Jian Qiu, and Ping Tan. "Identification of Frequency Response Function of Shaking Table with a New Estimator." Applied Mechanics and Materials 44-47 (December 2010): 719–23. http://dx.doi.org/10.4028/www.scientific.net/amm.44-47.719.

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Shaking table is a nonlinear system, which is a more nonlinear system with payload. System can be usually as linear system nearby working point in control strategy. 1 H -estimator or 2 H -estimator is used for identifying the Frequency Response Function (FRF) of the system. 1 H -estimator is a lower-estimator and 2 H -estimator is an over-estimator, both have large estimating errors. In this paper, a new estimator, m H -estimator, is used for the identification of the shaking table system’s FRF, and whose parameters are estimated by differential evolution (DE) which makes m H closed to the true FRF H . This control strategy can reduce the steps of iterative learning control (ILC) of shaking table system, and the affection of payload characteristic.
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15

Veena, S. T., and A. Selvaraj. "Forensic steganalysis for identification of steganography software tools using multiple format image." International Journal of Informatics and Communication Technology (IJ-ICT) 10, no. 3 (December 1, 2021): 188. http://dx.doi.org/10.11591/ijict.v10i3.pp188-197.

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<p>Today many steganographic software tools are freely available on the Internet, which helps even callow users to have covert communication through digital images. Targeted structural image steganalysers identify only a particular steganographic software tool by tracing the unique fingerprint left in the stego images by the steganographic process. Image steganalysis proves to be a tough challenging task if the process is blind and universal, the secret payload is very less and the cover image is in lossless compression format. A payload independent universal steganalyser which identifies the steganographic software tools by exploiting the traces of artefacts left in the image and in its metadata for five different image formats is proposed. First, the artefacts in image metadata are identified and clustered to form distinct groups by extended K-means clustering. The group that is identical to the cover is further processed by extracting the artefacts in the image data. This is done by developing a signature of the steganographic software tool from its stego images. They are then matched for steganographic software tool identification. Thus, the steganalyser successfully identifies the stego images in five different image formats, out of which four are lossless, even for a payload of 1 byte. Its performance is also compared with the existing steganalyser software tool.</p>
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16

Lee, Sung-Ho, Jun-Sang Park, Myung-Sup Kim, and Woojin Seok. "Application Traffic Identification Speed Improvement by Optimizing Payload Signature Matching Sequence." Journal of Korean Institute of Communications and Information Sciences 40, no. 3 (March 31, 2015): 575–85. http://dx.doi.org/10.7840/kics.2015.40.3.575.

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17

Ramos, Francisco, and Vicente Feliu. "New online payload identification for flexible robots. Application to adaptive control." Journal of Sound and Vibration 315, no. 1-2 (August 2008): 34–57. http://dx.doi.org/10.1016/j.jsv.2008.02.003.

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18

Bahloul, A., S. Tliba, and Y. Chitour. "Dynamic Parameters Identification of an Industrial Robot With and Without Payload." IFAC-PapersOnLine 51, no. 15 (2018): 443–48. http://dx.doi.org/10.1016/j.ifacol.2018.09.185.

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19

Cao, Yihua, and Ning Wei. "Flight Trajectory Simulation and Aerodynamic Parameter Identification of Large-Scale Parachute." International Journal of Aerospace Engineering 2020 (August 25, 2020): 1–13. http://dx.doi.org/10.1155/2020/5603169.

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In this paper, the multibody parachute-payload system is simplified and analyzed. A six-degree-of-freedom rigid body flight dynamic model is established to calculate the flight trajectory, attitude, velocity, and drop point of the parachute-payload system. Secondly, the random interference factors that may be encountered in the actual airdrop test of the parachute system are analyzed. According to the distribution law of the interference factors, they are introduced into the flight dynamic model. The Monte Carlo method is used to simulate the target and predict the flight trajectory and landing point distribution of the parachute system. The simulation results can provide technical support and theoretical basis for the parachute airdrop test. Finally, the genetic algorithm is used to identify the aerodynamic parameters of the large-scale Disk-Gap-Band parachute. The simulation results are in good agreement with the test results, which shows that the research method proposed in this paper can be applied to study practical engineering problems.
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20

Cambera, Juan Carlos, Andres San-Millan, and Vicente Feliu-Batlle. "Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach." Shock and Vibration 2015 (2015): 1–13. http://dx.doi.org/10.1155/2015/294157.

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We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.
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21

Peng, Jian Fen, Xu Yan Tu, Hong Bing Wang, and Ya Jian Zhou. "An early Intelligent P2P Traffic Identification Method." Applied Mechanics and Materials 321-324 (June 2013): 2812–17. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.2812.

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In order to identify P2P traffic quickly and accurately as early as possible, an early intelligent P2P traffic identification method(EIIC) is proposed, which uses the size of early three packets payload and server port number obtained from the TCP flow as flow feature and classifies the traffic based on C4.5 algorithm. The results show that EIIC satisfies the following conditions: extracted features used, training samples selected under the unbiased conditions, it can be adaptive to actual network conditions and early classify the Internet traffic into application among WEB, MAIL, BitTorrent and eMule categories efficiently and quickly.
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Ellisen, Leif. "Abstract ED3-3A: Mechanisms of resistance." Cancer Research 83, no. 5_Supplement (March 1, 2023): ED3–3A—ED3–3A. http://dx.doi.org/10.1158/1538-7445.sabcs22-ed3-3a.

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Abstract Antibody Drug Conjugates (ADCs) are emerging as promising therapeutics for all subtypes of breast cancer. ADCs are composed of a monoclonal antibody directed against a tumor-expressed antibody, conjugated via a variety of linker chemistries to a cytotoxic or other tumor-active payload. Tumor-selective drug delivery via ADCs has the potential to substantially improve the therapeutic window and efficacy for a variety of therapeutic agents. Indeed, recent clinical data have demonstrated significant improvements in overall survival with the use of single-agent ADCs across the spectrum of advanced breast cancer. However, both de novo and acquired resistance to ADCs is common, and may involve a diverse array of potential mechanisms that reflect the complexity of ADC action. These include alteration or downregulation of the ADC target, deregulation of intracellular trafficking or endolysosomal processing of the internalized ADC, and a variety of payload-specific mechanisms of resistance such as induction of drug efflux or activation of cell survival pathways. Which mechanism(s) dominates in a given setting may depend on both ADC-specific and tumor-specific factors. For example, linker design is likely to have a major influence on potential ADC resistance: ADCs with a non-cleavable linker (e.g. trastuzumab emtansine) are dependent upon fusion with acidified lysosomes for degradation and payload release, and attenuated acidification has been demonstrated pre-clinically as a resistance mechanism. In contrast, ADCs with a cleavable peptide linker (e.g. trastuzumab deruxtecan) may not require lysosomal processing for payload release. Furthermore, highly genetically unstable tumors may simultaneously generate multiple types of resistance mechanisms. We recently demonstrated the emergence of distinct acquired resistance mutations to sacituzumab govitecan, involving the ADC antibody target (TROP2) and the payload target (topoisomerase 1), within different metastatic lesions of an individual patient. General strategies to overcome ADC resistance include the sequential use of multiple ADCs, and/or the up-front use of select combination therapies incorporating ADCs. Clearly, the success of these approaches will require a more thorough evaluation and understanding of resistance mechanisms as they occur in patients. Fortunately, the relative success of ADCs for breast cancer treatment to date is spurring the identification of new targets, approaches for linker design, and a wide diversity of payloads that will be instrumental for efforts to overcome resistance. Citation Format: Leif Ellisen. Mechanisms of resistance [abstract]. In: Proceedings of the 2022 San Antonio Breast Cancer Symposium; 2022 Dec 6-10; San Antonio, TX. Philadelphia (PA): AACR; Cancer Res 2023;83(5 Suppl):Abstract nr ED3-3A.
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23

CHEN, WENBING, MING LIU, and YUNJIAN GE. "SYSTEM DESIGNING FOR A SMALL-SCALE AUTONOMOUS HELICOPTER." International Journal of Information Acquisition 03, no. 04 (December 2006): 359–67. http://dx.doi.org/10.1142/s0219878906001106.

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This paper presents the design of a relative low-cost and more compatible autonomous helicopter system using HIROBO 50 scale as an experimental platform. Because of the limit of helicopter payload, we choose the MP2128 Autopilot and a number of sensors to build the system and the weight of instrumentation is about 500 g, much less than the payload capability of model helicopter. Thus it is feasible to design the binocular stereo-camera system to achieve full autonomous flight and the whole weight (include power) of instrumentation is about 1500 g. After getting the model of the helicopter using the subspace model identification (SMI) algorithms, we present the structure of fuzzy PID controller.
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24

Farsoni, Saverio, Federica Ferraguti, and Marcello Bonfè. "Safety-oriented robot payload identification using collision-free path planning and decoupling motions." Robotics and Computer-Integrated Manufacturing 59 (October 2019): 189–200. http://dx.doi.org/10.1016/j.rcim.2019.04.011.

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25

McNeese, Nathan J., Nancy J. Cooke, Russell Branaghan, Ashley Knobloch, and Amanda Taylor. "Identification of the Emplacement of Improvised Explosive Devices by Experienced Mission Payload Operators." Applied Ergonomics 60 (April 2017): 43–51. http://dx.doi.org/10.1016/j.apergo.2016.10.012.

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26

Duan, Jinjun, Zhouchi Liu, Yiming Bin, Kunkun Cui, and Zhendong Dai. "Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach." Sensors 22, no. 2 (January 7, 2022): 439. http://dx.doi.org/10.3390/s22020439.

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In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output of the force sensor, which will seriously affect the accuracy and effect of the force control. The existing identification algorithm time is often longer, which also affects the efficiency of force control operations. In this paper, a self-developed multi-dimensional force sensor with integrated gravity/inertial force sensing function is used to directly measure the resultant force. Further, a method for the rapid identification of payload based on excitation trajectory is proposed. Firstly, both a gravity compensation algorithm and an inertial force compensation algorithm are introduced. Secondly, the optimal spatial recognition pose based on the excitation trajectory was designed, and the excitation trajectory of each joint is represented by a finite Fourier series. The least square method is used to calculate the identification parameters of the load, the gravity, and inertial force. Finally, the experiment was verified on the robot. The experimental results show that the algorithm can quickly identify the payload, and it is faster and more accurate than other algorithms.
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27

Hao, G., G. Feng, and Y. Yue. "The isomorphism identification of reducible performance for parallel mechanisms." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, no. 3 (August 23, 2011): 798–807. http://dx.doi.org/10.1177/0954406211415322.

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In this article, the concept of reducible performance is introduced from the viewpoint of the incidence relationship between kinematic outputs and actuating inputs for parallel mechanisms. The theoretic basis of an eigensystem approach is studied, and practical applications are discussed. Finally, a new matrix is proposed, which contains at least one distinct eigenvalue based on the incidence relationship matrix, and the eigensystem approach is used to identify the isomorphism of the new matrices. By using the proposed matrices, the eigensystem approach is used to identify the isomorphism of reducible performance for heavy-payload manipulators. The results show that the eigensystem approach is effective in the isomorphism identification of reducible performance.
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28

Milford, R. I., and S. F. Asokanthan. "Experimental On-Line Frequency Domain Identification and Adaptive Control of a Flexible Slewing Beam." Journal of Dynamic Systems, Measurement, and Control 118, no. 1 (March 1, 1996): 58–65. http://dx.doi.org/10.1115/1.2801151.

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This paper presents experimental results for the real-time adaptive identification and control of a flexible, slewing beam. A frequency domain identification algorithm incorporating non-parametric transfer function estimation and least squares parametric estimation is used to reconstruct an accurate parametric model of the system, capable of accurately tracking changing plant dynamics in real time. This model is subsequently used to produce an LQG compensator which actively damps beam vibration caused by rapid slewing manoeuvres with large payload changes. Non-persistent excitation is addressed in the context of identification during nominal motion. It is shown that after a short duration learning period, the proposed identification scheme will yield a model which is sufficiently accurate for controller synthesis.
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Akhmametieva, Hanna. "UNIVERSAL APPROACH TO THE IDENTIFICATION OF STEGANOGRAPHIC TRANSFORMATION OF THE SPATIAL DOMAIN OF DIGITAL IMAGES." International Science Journal of Engineering & Agriculture 1, no. 3 (August 1, 2022): 133–42. http://dx.doi.org/10.46299/j.isjea.20220103.11.

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The article proposes a universal approach to detect the presence of additional information attachments in the spatial domain of digital images. The approach is based on the use of the steganalytic method developed by the author earlier and based on the analysis of sequential triads of triplets in the matrix of unique colors of image. The steganoanalytic method Color Triads allows to detect with high accuracy the additional information attachments embedded by various steganographic methods into the spatial domain of images. The perturbations in the matrix of unique colors of images as a result of steganographic transformation are illustrated which concludes about the sensitivity of the blue color component even to small modifications of the brightness values of this matrix. The efficiency of detecting stegoes formed at small values of payload (0.4 bpp and less) based on LSB, S-UNIWARD, MiPOD and WOW steganographic methods is shown. The obtained results of computational experiments allow detect the filled color components of digital images with high accuracy even at payload of 0.1 and 0.05 bpp that is much higher than the results of modern analogues. The steganalytic method analyzes the spatial domain of images, which avoids the accumulation of computational errors that affect the detection result.
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Ding, Chao, Lelai Zhou, Yibin Li, and Xuewen Rong. "Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification." IEEE Access 8 (2020): 224578–87. http://dx.doi.org/10.1109/access.2020.3044933.

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31

Kusznir, Tom, and Jarosław Smoczek. "Genetic Programming Based Identification of an Overhead Crane." Journal of KONBiN 51, no. 3 (October 1, 2021): 123–33. http://dx.doi.org/10.2478/jok-2021-0038.

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Abstract Overhead cranes carry out an important function in the transportation of loads in industry. The ability to transport a payload quickly and accurately without excessive oscillations could reduce the chance of accidents as well as increase productivity. Accurate modelling of the crane system dynamics reduces the plant-model mismatch which could improve the performance of model-based controllers. In this work the simulation model to be identified is developed using the Euler-Lagrange method with friction. A 5-step ahead predictor, as well as a 10-step ahead predictor, are obtained using multi-gene genetic programming (MGGP) using input-output data. The weights of the genes are obtained by using least squares. The results of 15 different genetic programming runs are plotted on a complexity-mean square error graph with the Pareto optimal solutions shown.
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Čápková, Romana, Alena Kozáková, and Martin Minár. "Experimental Modelling and Control of a Tower Crane in the Frequency Domain." Strojnícky časopis - Journal of Mechanical Engineering 69, no. 3 (November 1, 2019): 17–26. http://dx.doi.org/10.2478/scjme-2019-0025.

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AbstractThe laboratory tower crane by INTECO is used in research and education of control engineering for mechatronics. Its modelling and control include several subsystems. The paper deals with identification of dynamic model of trolley motion along the jib and trolley position controller design, as well as design of compensator to damp payload oscillations in the direction along the jib. A thorough frequency domain analysis of obtained results is provided.
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Kampas, Giorgos, Aggelos Vasileiou, Marios Antonakakis, Michalis Zervakis, Emmanouil Spanakis, Vangelis Sakkalis, Peter Leškovský, et al. "Design of Sensors’ Technical Specifications for Airborne Surveillance at Borders." Journal of Defence & Security Technologies 5, no. 1 (2022): 58–83. http://dx.doi.org/10.46713/jdst.005.04.

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The need for fast and precise information in combination with the huge technological developments concerning drone, information and sensor technologies, over the last few years, promoted the use of Unmanned Aerial Systems (UAS) in several domains ranging from agriculture to surveillance applications. The unique opportunity that UAVs and the accompanied payloads offer for acquisition of real time and precise data, make them a valuable asset especially for Law Enforcement Agencies that benefit from UAV’s capabilities, preventing or efficiently responding to several cases. Focusing on border external security, the continuous reports on cross border illegal activities apply constant pressure to Border Guard Authorities that aim to safeguard European borders, highlighting in this way, the need of new technologies and ways that will guarantee efficient border surveillance. In this framework, this paper analyses the methodological steps followed and the outcomes derived in the process of requirements identification up to the extraction of specifications, concerning an unmanned aerial system and its payload meaning the respective s censors for border surveillance that are capable of supporting border guard authorities on surveillance and search and rescue missions.
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34

NI, Zhiyu. "Identification of Unknown Endpoint Payload Mass Parameter of Flexible Space Manipulator Based on Subspace Method." Journal of Mechanical Engineering 54, no. 1 (2018): 132. http://dx.doi.org/10.3901/jme.2018.14.132.

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35

Chen, Junqiang, Guang Cheng, and Hantao Mei. "F-ACCUMUL: A Protocol Fingerprint and Accumulative Payload Length Sample-Based Tor-Snowflake Traffic-Identifying Framework." Applied Sciences 13, no. 1 (January 2, 2023): 622. http://dx.doi.org/10.3390/app13010622.

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Tor is widely used to protect users’ privacy, which is the most popular anonymous tool. Tor introduces multiple pluggable transports (PT) to help users avoid censorship. A number of traffic analysis methods have been devoted to de-anonymize these PT. Snowflake is the latest PT based on the WebRTC protocol and DTLS encryption protocol for peer-to-peer communication, differing from other PT, which defeat these traffic analysis methods. In this paper, we propose a Snowflake traffic identification framework, which can identify whether the user is accessing Tor and which hidden service he is visiting. Rule matching and DTLS handshake fingerprint features are utilized to classify Snowflake traffic. The linear interpolation of the accumulative payload length of the first n messages in the DTLS data transmission phase as additional features are extracted to identify the hidden service. The experimental results show that our identification framework F-ACCUMUL can effectively identify Tor-Snowflake traffic and Tor-Snowflake hidden service traffic.
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36

Lipiński, Krzysztof. "Proportional-Derivative and Model-Based Controllers for Control of a Variable Mass Manipulator." Applied Mechanics and Materials 831 (April 2016): 54–62. http://dx.doi.org/10.4028/www.scientific.net/amm.831.54.

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In the paper,numerical analysis of dynamics of a variable mass manipulator is presented. A revolute joints composed manipulator is considered. Payload of the gripper is considered as the only element characterized by unknown value of its mass (variable between subsequent operations). As in other cases of the revolute joints composed manipulators, its behaviour dependents significantly on the pose of the manipulator. When the manipulator is driven over a larger operating range, nonlinear terms can be observed in the equations, and linear controller does not ensure satisfactory its performance. Thus, nonlinear control technique is employed. To ensure such non-linear control, nonlinear models of the plant are introduced in the controller. Initially, there is an open-loop feedforward model-based controller used to enforce the manipulator to follow the required paths. Work of the proposed configuration is tested numerically. To deal with it, a numerical model of the manipulator is prepared and rules of multibody modelling are used for it. Two identical models (equations) are implemented in two separate blocks of the model. In the controller block, primary set of parameters of the robot structure is introduced. As the actual gaol is to observe effects of the incorrect identification of the payload masses, the plant (the controlled object) model may not be described by identical values of their masses in the performed tests. As a result, significant path errors are observed during simulations. To eliminate these errors, the controller model is enlarged. A feedback loop is accepted and a proportional-derivative controller is considered in this feedback part. Subsequently, collaboration between these feedforward and feedback blocks is tested. This collaboration runs well (error of the realised path is reduced). However, intensive work of the feedback controller is non-required in the considered application. Possibility of mass identification is tested. Performed tests proofed that signal of the proportional-derivative controller is a useful data base for the required identification process. A short run of a trial path is performed at beginning of the motion. PD signal obtained during such test motion are collected. They allow us to identify the mass of the payload and to improve data in the model-based controller. Thanks of it, the feedback control signal is reduced and realisation of the required path is acceptable.
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37

Louw, J. M., and H. W. Jordaan. "Data-Driven System Identification and Model Predictive Control of a Multirotor with an Unknown Suspended Payload." IFAC-PapersOnLine 54, no. 21 (2021): 210–15. http://dx.doi.org/10.1016/j.ifacol.2021.12.036.

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38

Rodriguez, Andres San-Millan, Juan Carlos Cambera Ibañez, and Vicente Feliu Battle. "Online Algebraic Identification of the Payload Changes in a Single-Link Flexible Manipulator Moving under Gravity." IFAC Proceedings Volumes 47, no. 3 (2014): 8397–402. http://dx.doi.org/10.3182/20140824-6-za-1003.00397.

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39

Du, Ye, Ru Hui Zhang, and Ji Qiang Liu. "An Analysis System for Skype Network Traffic Based on Multiple-Layer Detection." Advanced Materials Research 108-111 (May 2010): 274–78. http://dx.doi.org/10.4028/www.scientific.net/amr.108-111.274.

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Skype is a P2P overlay network for VoIP and other applications, which is widely used all over the world. Based on analysis of the operation mechanisms, the communication processes of Skype are discussed detailedly, and then a multiple-layer based system for Skype network traffic identification is designed. The System mainly consists of three entities, which include suspicious connection table, payload detection module and traffic detection module. The functional characteristics of all entities are introduced, and the attribute set for network behavior is depicted. Finally, experiment results show the usability of the system.
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40

Vogt, David S., Susanne Schröder, Lutz Richter, Michael Deiml, Peter Weßels, Jörg Neumann, and Heinz-Wilhelm Hübers. "VOILA on the LUVMI-X Rover: Laser-Induced Breakdown Spectroscopy for the Detection of Volatiles at the Lunar South Pole." Sensors 22, no. 23 (December 6, 2022): 9518. http://dx.doi.org/10.3390/s22239518.

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The project Lunar Volatiles Mobile Instrumentation—Extended (LUVMI-X) developed an initial system design as well as payload and mobility breadboards for a small, lightweight rover dedicated for in situ exploration of the lunar south pole. One of the proposed payloads is the Volatiles Identification by Laser Analysis instrument (VOILA), which uses laser-induced breakdown spectroscopy (LIBS) to analyze the elemental composition of the lunar surface with an emphasis on sampling regolith and the detection of hydrogen for the inference of the presence of water. It is designed to analyze targets in front of the rover at variable focus between 300 mm and 500 mm. The spectrometer covers the wavelength range from 350 nm to 790 nm, which includes the hydrogen line at 656.3 nm as well as spectral lines of most major rock-forming elements. We report here the scientific input that fed into the concept and design of the VOILA instrument configuration for the LUVMI-X rover. Moreover, we present the measurements performed with the breadboard laboratory setup for VOILA at DLR Berlin that focused on verifying the performance of the designed LIBS instrument in particular for the detection and quantification of hydrogen and other major rock forming elements in the context of in situ lunar surface analysis.
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41

Weber, M., K. Patel, O. Ma, and I. Sharf. "Identification of Contact Dynamics Model Parameters From Constrained Robotic Operations." Journal of Dynamic Systems, Measurement, and Control 128, no. 2 (May 10, 2005): 307–18. http://dx.doi.org/10.1115/1.2192839.

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With the fast advances in computing technology, contact dynamics simulations are playing a more important role in the design, verification, and operation support of space systems. The validity of computer simulation depends not only on the underlying mathematical models but also on the model parameters. This paper describes a novel strategy of identifying contact dynamics parameters based on the sensor data collected from a robot performing contact tasks. Unlike existing identification algorithms, this methodology is applicable to complex contact geometries where contact between mating objects occurs at multiple surface areas in a time-variant fashion. At the same time, the procedure requires only measurements of end-effector forces/moments and the kinematics information for the end-effector and the environment. Similarly to other methods, the solution is formulated as a linear identification problem, which can be solved with standard numerical techniques for overdetermined systems. Efficacy, precision, and sensitivity of the identification methodology are investigated in simulation with two examples: A cube sliding in a wedge and a payload/fixture combination modeled after a real space-manipulator task.
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42

Gautier, Maxime, and Sébastien Briot. "Global Identification of Robot Drive Gains Parameters Using a Known Payload and Weighted Total Least Square Techniques." IFAC Proceedings Volumes 45, no. 16 (July 2012): 1389–94. http://dx.doi.org/10.3182/20120711-3-be-2027.00214.

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43

Wang, Xiao Peng, Ping Yu, Xian Feng Li, Xin Da Qi, and Yan Wang. "The Development and Solution of Intelligent Secondary Power in Space." Applied Mechanics and Materials 635-637 (September 2014): 1118–23. http://dx.doi.org/10.4028/www.scientific.net/amm.635-637.1118.

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Intelligent secondary power supply is a power supply which integrate power conversion , data acquisition, power control ,serial communication features for aviation, aerospace high-reliability power supply system, with the diagnosis, fault protection and power health management function. Intelligent design is a necessary measures to ensure and improve the secondary power performance , is the trend of secondary power supply system of the future, It solve the shortcomings of traditional secondary power system such as poor monitoring , lack of fault identification and diagnostics, improve the reliability of the secondary power supply greatly, has great significance to improve the design of space payload.
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44

Crisp, N. H., K. L. Smith, and P. M. Hollingsworth. "An integrated design methodology for the deployment of constellations of small satellites." Aeronautical Journal 123, no. 1266 (July 24, 2019): 1193–215. http://dx.doi.org/10.1017/aer.2019.57.

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ABSTRACTA growing interest in constellations of small satellites has recently emerged due to the increasing capability of these platforms and their reduced time and cost of development. However, in the absence of dedicated launch services for these systems, alternative methods for the deployment of these constellations must be considered which can take advantage of the availability of secondary-payload launch opportunities. Furthermore, a means of exploring the effects and tradeoffs in corresponding system architectures is required. This paper presents a methodology to integrate the deployment of constellations of small satellites into the wider design process for these systems. Using a method of design-space exploration, enhanced understanding of the tradespace is supported , whilst identification of system designs for development is enabled by the application of an optimisation process. To demonstrate the method, a simplified analysis framework and a multiobjective genetic algorithm are implemented for three mission case-studies with differing application. The first two cases, modelled on existing constellations, indicate the benefits of design-space exploration, and possible savings which could be made in cost, system mass, or deployment time. The third case, based on a proposed Earth observation nanosatellite constellation, focuses on deployment following launch using a secondary-payload opportunity and demonstrates the breadth of feasible solutions which may not be considered if only point-designs are generated by a priori analysis. These results indicate that the presented method can support the development of future constellations of small satellites by improving the knowledge of different deployment strategies available during the early design phases and through enhanced exploration and identification of promising design alternatives.
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45

Zhai, Liang, Qiuhua Zheng, Xu Zhang, Haizhong Hu, Weihao Yin, Yingpei Zeng, and Ting Wu. "Identification of Private ICS Protocols Based on Raw Traffic." Symmetry 13, no. 9 (September 19, 2021): 1743. http://dx.doi.org/10.3390/sym13091743.

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With the development of the Industrial Internet in recent years, security issues have been a hot topic of the industrial control system (ICS) network management. Identifying the protocol traffic in the communication process of the ICS is an important prerequisite to avoid security problems, especially in ICSs that use many private protocols. The private protocols cannot be analyzed due to the unknown internal structure of the protocols, which makes the ICS protocol identification work more difficult. However, the Internet-oriented protocol identification method is not applicable to the scenario of the private ICS protocols network environment. With this problem in mind, this paper proposes a method of ICS protocol identification based on the raw traffic payload. The method firstly performs data preprocessing such as data selection, interception, cleaning conversion, and labeling on the raw traffic of the protocol based on the characteristics of the industrial control protocol. Then it uses an AM-1DCNN + LSTM deep learning model to extract temporal and spatial features of the ICS raw traffic, and performs protocol identification. This method can effectively extract ICS protocol features in scenarios where protocol parsing is impossible compared with existing methods. We constructed a dataset for ICS protocol identification based on open-source data and tested the proposed method for experiments, and the identification accuracy rate reached 93%.
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46

Yuan, Jian-jun, Weiwei Wan, Xiajun Fu, Shuai Wang, and Ning Wang. "A novel LLSDPso method for nonlinear dynamic parameter identification." Assembly Automation 37, no. 4 (September 4, 2017): 490–98. http://dx.doi.org/10.1108/aa-08-2016-106.

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Purpose This paper aims to propose a novel method to identify the parameters of robotic manipulators using the torque exerted by the robot joint motors (measured by current sensors). Design/methodology/approach Previous studies used additional sensors like force sensor and inertia measurement unit, or additional payload mounted on the end-effector to perform parameter identification. The settings of these previous works were complicated. They could only identify part of the parameters. This paper uses the torque exerted by each joint while performing Fourier periodic excited trajectories. It divides the parameters into a linear part and a non-linear part, and uses linear least square (LLS) parameter estimation and dual-swarm-based particle swarm optimization (DPso) to compute the linear and non-linear parts, respectively. Findings The settings are simpler and can identify the dynamic parameters, the viscous friction coefficients and the Coulomb friction coefficients of two joints at the same time. A SIASUN 7-Axis Flexible Robot is used to experimentally validate the proposal. Comparison between the predicted torque values and ground-truth values of the joints confirms the effectiveness of the method. Originality/value The proposed method identifies two joints at the same time with satisfying precision and high efficiency. The identification errors of joints do not accumulate.
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47

Xiao, Han-shan, Chao Ou, Hong-liang Ji, Zheng-chun He, Ning-yuan Liu, and Xian-xu Yuan. "Low-Cost and Aerodynamics-Aim Hypersonic Flight Experiment MF-1." MATEC Web of Conferences 316 (2020): 04006. http://dx.doi.org/10.1051/matecconf/202031604006.

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For increasing understanding of fundamental hypersonic phenomena, the flight test program, named MF-1, is to gather fundamental scientific and engineering data on the physics and technologies critical to future operational hypersonic flight with low-cost flight test platform, which is built on the retrofitted rockets. The MF-1 program is a hypersonic flight test program executed by China Aerodynamic Research and Development Center (CARDC). The MF-1 flight flew in December 2015. The flight focuses primarily on integration of instrumentation on the test vehicle, with application to boundary layer transition and shock interaction experiments. The MF-1 payload consists of a blunted 7°half angle cone, a cylinder and 33° flare configuration. The payload was boosted to Mach 5.32 utilizing a solid-rocket booster without control for the whole flight. The flight was fully successful, and measured transition under supersonic and hypersonic conditions. The heat flux data were given by the three-dimensional thermal identification method to discriminate transition zone. The preliminary analysis shows that the real-time flight data obtained by MF-1 are reliable and can be used to validate the transition predicting model and software. The results show that the existing model is able to predict the transition location of cone at a small angle-of-attack for supersonic or hypersonic flow. This paper describes the MF-1 mission and some general conclusions derived from the experiment.
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48

Ismail, Abdi, Achmad Zubaydi, Bambang Piscesa, and Rizky Chandra Ariesta. "Vibration-based damage identification for ship sandwich plate using finite element method." Open Engineering 10, no. 1 (August 14, 2020): 744–52. http://dx.doi.org/10.1515/eng-2020-0086.

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AbstractThe sandwich plate can be used to replace the conventional steel stiffened plates on the ship’s hull structure. By using the sandwich plate, not only the stiffness of the plate can be increased but also the overall ship weight can be reduced, as well as the ship payload can be increased. The sandwich plate should be accompanied by the damage identification system to prevent ship structural failure. In this paper, the global damage identification method, which is based on the vibration analysis, is investigated. For that purpose, the vibration-based damage identification using the Finite Element Method (FEM) is explored. The variables being investigated are the damage sizes, damage locations, and the boundary conditions which affect the natural frequencies of the structures. The sandwich plate considered in this study consisted of steel faceplates with the polyurethane elastomer core, which has been checked to meet Lloyd’s register, an international maritime standard. From the analysis, it is found that the fully clamped boundary conditions accompanied by high vibration modes are more sensitive to the presence of artificial damage. The changes in the natural frequencies can be used as a reference to identify the size and location of damage in the sandwich plate.
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Tong, Juliana T. W., Paul W. R. Harris, Margaret A. Brimble, and Iman Kavianinia. "An Insight into FDA Approved Antibody-Drug Conjugates for Cancer Therapy." Molecules 26, no. 19 (September 27, 2021): 5847. http://dx.doi.org/10.3390/molecules26195847.

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The large number of emerging antibody-drug conjugates (ADCs) for cancer therapy has resulted in a significant market ‘boom’, garnering worldwide attention. Despite ADCs presenting huge challenges to researchers, particularly regarding the identification of a suitable combination of antibody, linker, and payload, as of September 2021, 11 ADCs have been granted FDA approval, with eight of these approved since 2017 alone. Optimism for this therapeutic approach is clear, despite the COVID-19 pandemic, 2020 was a landmark year for deals and partnerships in the ADC arena, suggesting that there remains significant interest from Big Pharma. Herein we review the enthusiasm for ADCs by focusing on the features of those approved by the FDA, and offer some thoughts as to where the field is headed.
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50

deSilva, C. W., and J. Van Winssen. "Least Squares Adaptive Control for Trajectory Following Robots." Journal of Dynamic Systems, Measurement, and Control 109, no. 2 (June 1, 1987): 104–10. http://dx.doi.org/10.1115/1.3143825.

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A control scheme is presented for trajectory following with robotic manipulators. The method employs a feedforward torque for gross compensation and adaptive feedback gain scheduling for correcting deviations from the desired trajectory. The adaptive controller eliminates trajectory errors in the least squares sense without using online identification or a reference model. The control scheme takes into account dynamic nonlinearities (e.g., coriolis and centrifugal accelerations and payload changes), geometric nonlinearities (e.g., nonlinear coordinate expressions for large excursions) and physical nonlinearities (e.g., nonlinear damping) as well as dynamic coupling present in a manipulator. The method can accommodate real-time changes in the desired trajectory. In practice, a recursive algorithm would be needed to accomplish this. Computer simulations are given to demonstrate the feasibility of the control scheme.
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