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检索条件"任意字段=3rd IEEE International Conference on Distributed Computing in Sensor Systems"

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Wheel-Terrain Contact Geometry Estimation using the Aside-Wheel RGB-D sensor over Soft Terrain

Wheel-Terrain Contact Geometry Estimation using the Aside-Wh...

引用

Robotics, Automation and Artificial Intelligence (RAAI), ieee international conference on

作者： Pengxuan Zhana Chen Yao Longteng Hu Feng Xue Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China SUSTech Guang-dong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin of Institute of Technology (HIT) Harbin China College of Engineering University of Michigan Ann Arbor Michigan USA School of Electronics Harbin Institute of Technology Harbin China

ISBN: (数字)9798350307566

ISBN: (纸本)9798350307573

Wheeled mobile robots (WMRs) have exhibited notable competitiveness in various applications, including geo-graphic and planetary exploration. Nonetheless, when traversing on soft terrains, their wheels might encounter sinkage and slippage, leading to mission failure. Consequently, real-time estimation of contact parameters such as sinkage and slip ratio holds significant importance for rover operations. In this paper, we introduce a novel algorithm that employs only one aside-wheel RGB-D camera for the simultaneous detection of wheel sinkage and slip ratio on deformable terrains in real-time. We estimate sinkage through the depth module by processing point cloud data, and we estimate slip ratio through the color module with a sequence of image processing steps. Utilizing only one single camera reduces errors arising from sensor signal alignment and enhances detection accuracy. With a single-wheel testbed, we simulate wheel motion under different slip ratios and carry out numerous experiments to validate the effectiveness of the proposed algorithm. Our algorithm attains a detection frequency of up to 20Hz and exhibits outstanding precision. The relative sinkage error remains below 4%, while the relative slippage error is confined within 0.8%.

关键词： Accuracy Image color analysis Robot vision systems Wheels Estimation Cameras Real-time systems

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Zigbee based wireless sensor network architecture for agriculture applications 3

Zigbee based wireless sensor network architecture for agricu...

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3rd international conference on Smart systems and Inventive Technology, ICSSIT 2020

作者： Prakash, Shikha Lakhmi Chand Institute of Technology Bodri Electronics and Telecommunication Department Bilaspur India

ISBN: (纸本)9781728158211

The Wireless sensor network is widely being used in fields like agriculture. Continuous monitoring of agricultural fields is important in terms of control and protection of the plants through sensors and the real-time monitoring of the agricultural system is performed. This paper provides a detailed review of how the sensor network is being used in agriculture where the transfer of data is done by the Zigbee and the data is stored in the microcontroller. And also gives the knowledge about how the sensors are being placed in the field and the information collected is being used by the farmers. Also, the architecture of WSN is discussed which gives information about the functioning of each layer in the OSI model. © 2020 ieee.

关键词： Agriculture

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Survey on clustering and depletion of energy in wireless sensor network 3

Survey on clustering and depletion of energy in wireless sen...

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3rd international conference on Intelligent Sustainable systems, ICISS 2020

作者： Sibi, S. Anslam Prabhu, R. Vijaya St.Joseph's Institute of Technology Department of Information Technology Chennai Tamil Nadu India

ISBN: (纸本)9781728170893

Energy is an important factor in data transmission. Wireless sensor network are more vulnerable to energy depletion, node distance, dynamic topology etc. Deploying energy in WSN is difficult due to absence of fixed infrastructure, shard wireless medium, error-prone communication link and so on. In WSN the energy depletion can be increased by efficient clustering and reliable communication among modes. WSN has some existing efficient cluster formation techniques. A survey on various clustering and how to mitigate energy depletion in Wireless sensor Network. © 2020 ieee.

关键词： Surveys

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Object Recognition: distributed Architecture Based on Heterogeneous Devices to Integrate sensor Information 16th

Object Recognition: Distributed Architecture Based on Hetero...

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16th international Symposium on distributed computing and Artificial Intelligence (DCAI)

作者： Poza-Lujan, Jose-Luis Posadas-Yague, Juan-Luis Munera, Eduardo Simo, Jose E. Blanes, Francisco Univ Politecn Valencia Univ Inst Control Syst & Ind Comp Ai2 Camino Vera S-N E-46022 Valencia Spain

ISBN: (纸本)9783030238872;9783030238865

Object recognition is a necessary task for many areas of technology, such as robot navigation or the intelligent reconstruction of environments in order a robot can interact with these objects. This article presents an architecture that integrates distributed heterogeneous information to recognise objects. The architecture uses devices that can process sensory data locally to send information to other devices. In order to perform data processing actions, the devices must have a layer of intelligent connectivity. These devices are called Smart Resources that offer to the distributed nodes the processed sensor data by means of information services. To validate the architecture, a system with two smart resources, equipped with different sensors, has been implemented. Experiments carried out show that it is better to select objects as soon as possible to improve the object recognition rate. Consequently, in the distributed system, devices should, when possible, deliver the process in advance.

关键词： Smart environment distributed systems distributed architectures Object detection Information integration

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FCPP: an efficient and extensible Field Calculus framework 1

FCPP: an efficient and extensible Field Calculus framework

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1st ieee international conference on Autonomic computing and Self-Organizing systems (ACSOS)

作者： Audrito, Giorgio Univ Torino Comp Sci Dept Turin Italy Univ Torino C3S Turin Italy

ISBN: (数字)9781728172774

ISBN: (纸本)9781728172774

The Field Calculus is a promising language for the self-organisation of distributed devices, allowing to express on a high level of abstraction complex distributed algorithms with robust behaviour guarantees. This language has been argued to be fruitfully applicable to many different contexts: wireless sensor networks, internet of things, self-organising edge, fog or cloud computing scenarios, and simulations of such. However, existing implementations of this language rely on the Java Virtual Machine and have an high performance overhead, impairing their usability in contexts where performance is critical (cloud) or computational resources are tightly bounded (WSN/IoT). In this paper we present FCPP, a novel implementation of the Field Calculus as a C++ library. The library is built as a component-based system, in order to be easily extensible to fit different contexts. Furthermore, it leverages C++ template patterns to allow compile-time optimisation and minimal performance overhead, and enables fine-grained parallelism for scalability in self-organising cloud applications. A case study of an edge simulation shows the performance improvement compared to existing Field Calculus implementations, while preserving the same level of abstraction. This translates to a significant speed-up in the development process of distributed algorithms, paving the way towards application scenarios for which existing tools are unsuitable: microcontroller systems and self-organising cloud.

关键词： edge computing aggregate computing programming languages field calculus toolchains

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Partial Discharge Fault Identification Method for Switchgear Driven by Multiple Types of Fault Information

Partial Discharge Fault Identification Method for Switchgear...

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Computer Science, Electronic Information Engineering and Intelligent Control Technology (CEI), ieee international conference on

作者： Weihua Hu Chaohui Liu Yunshang Xu State Grid Jinzhou Electric Power Supply Company State Grid Liaoning Electric Power Supply Co. Ltd.

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

The partial discharge fault identification method driven by multiple types of fault information is of great significance for improving the accuracy and fault tolerance of fault identification. In this paper, typical partial discharge types in switchgear are identified, and four typical partial discharge models (corona discharge, surface discharge, floating discharge, and air gap discharge) are set up. Ultrasonic (Ultra) method, very-ultra-high frequency (V-UHF) method, and pulse current method (PCM) are used to collect partial discharge signals generated by different discharge types. First, the deep convolution neural network (CNN) algorithm is used to train the measurement data of different sensors, and then the Dempster Shafer (D-S) evidence theory is used to fuse the recognition results of multidimensional information sources, and the final decision is made. The results show that compared to the fault identification mode based on a single information source, the fault identification mode based on multidimensional information sources has higher accuracy and can correctly identify the discharge type even when one of the multidimensional information sources makes a false judgment, with better fault tolerance and better recognition effect.

关键词： Partial discharges Fault tolerance Switchgear Fault tolerant systems Fault location sensor fusion Discharges (electric)

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Getting on Track - Simulation-aided Design of Wireless IoT sensor systems 3

Getting on Track - Simulation-aided Design of Wireless IoT S...

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3rd international conference on Broadband Communications for Next Generation Networks and Multimedia Applications (CoBCom)

作者： Kraus, Daniel Diwold, Konrad Leitgeb, Erich Pro2Future GmbH Graz Austria Graz Univ Technol Inst Microwave & Photon Engn Graz Austria

ISBN: (纸本)9781728174921

When designing dependable communication systems for industrial application scenarios, the application environment where the solution will be integrated plays a crucial role. This study demonstrates how simulations can be used to integrate a target environment in the design process from an early stage. This allows to optimize wireless sensor networks (WSNs) in specific environments in terms of hardware requirements (e.g. antenna) and topology. The article discusses several application scenarios within the 2.4 GHz band and demonstrates how the design process can be aided by simulation to achieve dependable communication in harsh environments.

关键词： IoT wireless sensor communication network topologies wireless communication protocols

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Recognition of high dimensional multi-sensor remote sensing data of various spatial resolution 3

Recognition of high dimensional multi-sensor remote sensing ...

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3rd ieee international conference on Data Stream Mining and Processing, DSMP 2020

作者： Hnatushenko, Volodymyr Hnatushenko, Viktoriia Dnipro University of Technology Dep. of Information Systems and Technologies Dnipro Ukraine National Metallurgical Academy of Ukraine Dep. of Information Technologies and Systems Dnipro Ukraine

ISBN: (纸本)9781728132143

High-dimensional multi-sensor image data open new possibilities in remote sensing image analysis. One of the main problems in the field of automated high-dimensional data processing is interpretation and recognition of geometric forms in images. The use of traditional moment invariants in object recognition is limited to simple geometric transforms. In this study, a novel recognition method of high-dimensional multi-sensor remote sensing data of various spatial resolution was proposed. The proposed method of photogrammetric image recognition represented in raster formats of computer graphics enables identification of objects without implementation of complex algorithms involving transformation of digital images. This, in turn, enables improvement of the recognition accuracy. The experiments have shown that the proposed algorithm provides a useful alternative approach to feature reduction in high-dimensional digital image data. © 2020 ieee.

关键词： Object recognition

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2020 3rd ieee international conference on Soft Robotics, RoboSoft 2020

2020 3rd IEEE International Conference on Soft Robotics, Rob...

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3rd ieee international conference on Soft Robotics, RoboSoft 2020

ISBN: (纸本)9781728165707

The proceedings contain 94 papers. The topics discussed include: design of high torque variable stiffness actuator with fast adjustment and wide range of stiffness using lever and parallel mechanism;analyzing the effect of soft arm design on obstacle navigation through collision;the quad-spatula gripper: a novel soft-rigid gripper for food handling;soft robotic module for sensing and controlling contact force;sensorized phantom for characterizing large area deformation of soft bodies for medical applications;soft thermal actuators with embedded liquid metal microdroplets for improved heat management;mixing state estimation of peristaltic continuous mixing conveyor with distributed sensing system based on soft intestine motion;feedback control of a soft swinging appendage;and towards vision-based robotic skins: a data-driven, multi-camera tactile sensor.

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Emulating a sensor using soft material dynamics: A reservoir computing approach to pneumatic artificial muscle 3

Emulating a sensor using soft material dynamics: A reservoir...

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3rd ieee international conference on Soft Robotics (RoboSoft)

作者： Sakurai, Ryo Nishida, Mitsuhiro Sakurai, Hideyuki Wakao, Yasumichi Akashi, Nozomi Kuniyoshi, Yasuo Minami, Yuna Nakajima, Kohei Bridgestone Corp Adv Technol Creating Dept Tokyo 1870031 Japan Bridgestone Corp Nest Lab Tokyo 1048340 Japan Univ Tokyo Grad Sch Informat Sci & Technol Tokyo 1130033 Japan

ISBN: (纸本)9781728165707

The McKibben pneumatic artificial muscle (PAM) is a promising soft actuator featuring flexibility, light weight, and high power. However, to realize high-precision control with such soft actuators and achieve human-like, autonomous, and natural behavioral control, both actuation techniques and sensing technologies require development to make the most of their features. In this regard, McKibben PAMs contain a drawback rooted in the nonlinear mechanical properties of their soft materials, as frictional anisotropy triggered upon PAM actuation between its fibers and the tubes causes hysteresis. Therefore, because the length of PAM is not uniquely determined by the applied pressure, it is generally necessary to install a sensor device (such as a laser displacement meter) for measuring the length in addition to the platform. In this study, we propose a scheme that can estimate a PAM's length using applied pressure and its internal dynamics in real time, making use of the machine learning technique called reservoir computing. We show that estimation can be performed with significantly high accuracy. We subsequently demonstrate that the proposed approach is robust against drastic and immediate changes in platform conditions, and can be adapted dynamically to real-time change. We expect this approach can replace the functionality of the laser displacement meter, freeing the platform from mechanical constraints and leading to the realization of a simpler soft actuator capable of sensing using soft material dynamics.

关键词： Muscle

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