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BEMF-based methods, with the purpose of estimating the position and speed of the permanent magnet synchronous machine (PMSM), cannot be applied in low- speed range. Though the high frequency injection (HFI) methods can be operated in low- speed range, they are complicated. For low cost SPMSM applications, it is not necessary to be operated in low- speed range. Thus, an I-f starting method was introduced...
Introducing dummy slots is often applied to reduce cogging torque in permanent magnet synchronous machines. Although this solution always helps for smooth operation, its influence on noise and vibration (NV) performance needs more focused analysis. This paper employs two surface-mounted machines to investigate the effect of dummy slots, one of which is a 10-pole/12-slot machine (M1) with few magnetic-field...
Bladder cancer (BC) is a global fatal malignancy, which results in 114,000 deaths in 1990 and even 170,000 deaths in 2010 [1]. Therefore, the identification of BC-related genes is in emergency need for analyzing BC more comprehensively. In this study, we propose a heterogeneous network-based propagation algorithm using multi-dimensional data to score and rank the candidate BC-related genes. The novelty...
Protein phosphorylation, one of the most important types of post-translational modifications (PTMs), participates in multiple cellular processes. Accurate prediction on phosphorylaiton sites has become necessary, as many modifications are related to diseases and used as biomarkers. Currently a number of computational approaches only establish prediction models on sequence information. In this study,...
Tensegrity robots are novel deformable robots based on tensegrity structures. The 6-strut tensegrity robots (TR-6) are similar to spheres. This characteristic allows them to generate rolling gaits easily, but leads to the rolling down problem when they are on a slope. In this paper, as lowering the center of gravity is an efficient way to improve the stability of the TR-6 on a slope, a low-CG(center...
A steerable in-pipe robot based on screw drive is proposed for curved pipes and T-pipes. The robot with only two motors is composed of the drive mechanism and steering mechanism. The design principles of the robot are analyzed based on the kinematic and statics models. The spring parameters of the elastic arms are selected in consideration of the stability of steering motion. Then the steering locomotion...
LncRNA plays important roles in many biological and pathological processes. LncRNA-protein interaction is the most significant way of lncRNA performing function. Thus, identifying lncRNA-protein interaction has huge significance. The previous methods of lncRNA-protein interaction prediction focus on intrinsic features of lncRNA and protein but ignore the information implicit in the topologies of biological...
Phosphorylation plays a great role in regulating variety of cellular processes. Identification of the tyrosine phosphorylation is helpful for understanding the post-translational modifications regulation processes. Although a number of computational approaches have been developed, most of them only consider local sequence information, and currently few studies are concerned about the site with in...
This paper presents a reconfiguration planning method for a mobile type modular reconfigurable robot system, which is composed of wheel-manipulator robots. The wheel-manipulator robots can either locomote autonomously as individual modules or assemble into various group configurations with different locomotion capabilities. Through reconfiguration, they are capable of adapting to different tasks or...
According to the requirement of efficiency for rapid detection during the search and rescue in ruins, this paper proposes a subjective exploration strategy in the framework of simultaneous localization and mapping (SLAM). To balance the accuracy of SLAM algorithm and the efficiency of exploration, the problem of the subjective exploration of active SLAM is converted into an issue of multi-objective...
This paper presents an optimization design method of a variable geometry tracked robot for structured environment. The types and sizes of the obstacles in the structured environment are known. Based on the kinematics analysis of climbing stairs, surmounting pipelines and crossing gullies, the performance functions which display the relationship between structure parameters of the robot and the sizes...
High maneuverable turning gait is essential to improve the locomotion ability for the three-link underwater robot. Using the traditional method, the optimal turning gait is a numerical solution. This paper proposes a geometric method to get the optimal turning gait which is the analytical solution. Generally, the zero-contour of the orientation angle for the 3-link underwater robot is the optimal...
This paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced...
Phosphorylation is a crucial post translational modification, which regulates almost all cellular process in life. It has long been recognized that protein phosphorylation has close relationship with diseases, and therefore many researches are undertaken to predict phosphorylation sites for disease treatment and drug design. However, despite the success achieved by these approaches, no method focuses...
Human posture recognition is very critical in human computer interaction studies. With the release of Microsoft Kinect sensor, there has been an increasing interest in using Kinect for vision based human posture recognition as user's skeleton information can be precisely inferred from the depth images generated by Kinect. In this paper we proposed a novel human posture recognition method using Microsoft...
Due to the unsatisfactory effects of those commonly-used multi-source focus image fusion algorithms, this paper proposes and designs a multi-focus image fusion algorithm based on Gabor filter bank with its process of implementation, using Gabor transformation and Gabor filter bank theory. By doing four multi-source focus images fusion experiments in Matlab and evaluating fused images subjectively...
Tensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling...
As to the morphological characteristics of the seismic damage of the interior ruins, this paper presents a map building mechanism by using the analytic hierarchy process and proposes a hierarchical simultaneous localization and mapping (SLAM) algorithm that is based on the hybrid metric-topological map. The architecture of the ruins-oriented SLAM system consists of three layers. In the intermediate...
The wall pressing arms of a screw drive in-pipe robot are usually designed by using springs to be elastic. This is because pipe-diameter adaptability and climbing obstacle capability can be enhanced by the elastic arms. However, the axis of the robot deviates from that of the pipe exactly because of elasticity and gravity. Some extra energy is consumed wastefully due to wheel slipping and spring deformation...
Recently single nucleotide polymorphism (SNP) genotyping arrays attracts lots of attentions, which can provide high resolution profiling chromosomal rearrangements. It facilitates whole genome detection of two common aberrations: copy number alteration (CNA) and loss of heterozygosity (LOH), which are frequently found in cancer cells. At present, many computational approaches have been introduced...
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