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Dome-shaped tactile sensor for detecting object stiffness and potential

Dome-shaped tactile sensor for detecting object stiffness an...

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ieee international conference on Unmanned systems (ICUS)

作者： Yue Feng Kehang Zhong Zhilong Zhou Yanhui Han Science and Tehnology on Electromechanical Dynamic Control Labortary School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Orient Insititute of Measurement and Test Beijing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

Multi-functional tactile sensors, capable of measuring multi-physical quantities in a limited space by one structure, have aroused great research interest. This paper proposes a monostable dome-shaped sensor for the simultaneous measurement of the stiffness and surface potential of the object at the same position. In the proposed sensor, the top electrode is a flexible spherical stainless steel dome, and the bottom electrode is a circular sheet covered with an electret film, providing a bias electric field. Output Voltages between two electrodes are generated because of the electrostatic effect, and resulting waveforms can be measured as the proposed sensor contacts and releases the object. While the proposed sensor approaches the object, the surface potential of the object determines the voltage waveform. After contacting the object, the voltage waveform indicates a direct comparison of stiffness between the object and top electrode, based on the monostable buckling of the dome. Here, we present theoretical and experimental relationships between measured voltages obtained from the proposed sensor and a charged electret film on the surface of the object. The proposed sensor makes it possible to measure the stiffness and surface potential of the object using voltage waveforms.

关键词： TV Radio frequency Erbium

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Application of Wireless Communication Technology in Ubiquitous Power Internet of Things

Application of Wireless Communication Technology in Ubiquito...

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ieee international conference on Computer and Communication Engineering Technology (CCET)

作者： Le Ma Wenhui Li Yuting Hou Wenhao Zhan Rong Yang Wan Jia Yinghui Qiu State Grid Corporation of China Gansu Power Company Information & Telecommunication Company Gansu China School of Electrical and Electronic Engineering North China Electric Power University Beijing China

ISBN: (数字)9781728188119

ISBN: (纸本)9781728188126

With the rapid development of the economy, various types of distributed energy are continuously connected to the power system, resulting in the increasing pressure of energy supply in the power system, which poses unprecedented challenges to the operation, management, and service of State Grid Corporation. Therefore, State Grid Corporation of China has put forward the strategic goal of building ubiquitous power Internet of things (IoT). As an important part of supporting the construction of a strong smart grid and energy Internet, building ubiquitous power IoT is very important to promote the national energy structure reform, realize the intelligent coordination and optimization of source network load storage, and improve the user energy experience. Wireless communication technology provides channel guarantee for the future end-to-end ubiquitous IoT. This paper first introduces the concept and system composition of ubiquitous IoT and then focuses on the application and development of wireless communication technology including LTE power wireless private network and 5G communication in ubiquitous IoT. Finally, it summarizes the challenges and future development direction of ubiquitous power IoT construction.

关键词： Wireless communication 5G mobile communication Internet of Things Wireless sensor networks Communication system security Power systems

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Model learning of robot inverse dynamics based on self-organizing map gaussian process regression 3

Model learning of robot inverse dynamics based on self-organ...

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3rd ieee international conference on Electronic Information Technology and Computer Engineering, EITCE 2019

作者： Hu, Xiaoqiao Wang, Yang Wuhan University of Technology College of Information Engineering Wuhan430070 China Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks Wuhan430070 China

ISBN: (纸本)9781728135847

An accurate inverse dynamics model of robotic systems is key in robotic applications. Analytic inverse dynamics models suffer from uncertainties of physical parameters estimation, some complex frictions and actuator dynamics. In such cases, developing machine learning algorithm to approximate the inverse dynamics model from collected data become a hot research field. In this paper, a novel approach based on Self-Organizing Map Gaussian Process Regression (SOM-GPR) is proposed for modeling inverse dynamics of a robotic arm, which is a combination of the SOM and GPR. In our method, we use the SOM neural network to divide the global GP model into multiple small-sized local GP models. The prediction for a test point is performed by the nearest local GP model. With our approach, we can achieve the accurate modeling of robot inverse dynamics models. The effectiveness of our proposed algorithm has been verified in the experiment. The result of the experiment shows that the combination of two techniques we propose has a better performance over other extensions of GPR applied to learn the inverse dynamics model. © 2019 ieee.

关键词： Self organizing maps

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A 3D Printed Soft Force sensor for Soft Haptics

A 3D Printed Soft Force Sensor for Soft Haptics

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ieee international conference on Soft Robotics (RoboSoft)

作者： Dilpreet Singh Charbel Tawk Rahim Mutlu Emre Sariyildiz Vitor Sencadas Gursel Alici Applied Mechatronics and Biomedical Engineering Research (AMBER) Group and School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong NSW Australia Applied Mechatronics and Biomedical Engineering Research (AMBER) Group School of Mechanical Materials Mechatronic and Biomedical Engineering and the ARC Centre of Excellence for Electromaterials Science University of Wollongong NSW Australia School of Mechanical Materials Mechatronic and Biomedical Engineering ARC Centre of Excellence for Electromaterials Science University of Wollongong AIIM Facility NSW Australia

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

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Multi-hop energy-efficient routing protocol based on Minimum Spanning Tree for anisotropic Wireless sensor Networks 3

Multi-hop energy-efficient routing protocol based on Minimum...

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3rd international conference on Advanced systems and Emergent Technologies, IC_ASET 2019

作者： Sana, Messous Noureddine, Liouane University of Monastir Tunisia

ISBN: (纸本)9781728113173

Wireless sensor network (WSN) is composed of many tiny sensor nodes deployed in isolated areas and planned to work for WSN research interest. These sensor nodes have several resource constraints such as limited battery power. Besides, sensing and communications tasks consume energy, so a power management using optimized routing methods may effectively extend node's operational time. Routing in Wireless sensor Networks have received an increased interest by researchers and have been developed with different characteristics according to the exigence of application, the architecture of network, and specially the metric used to route packets (distance of path or number of hops, etc). The selection of an appropriate routing protocol is important since a well-designed routing protocol will increase transmission efficiency and maximize the overall network lifetime. A critical aspect of applications based on wireless sensor networks is their lifetime. In this paper, a new routing protocol strategy for wireless sensor nodes communications suitable for both isotropic and anisotropic networks distributions is proposed. This approach focuses on the minimum number of hops of each node to discover the optimal paths inserting them in its routing table. The main idea of this algorithm comes from the Minimum Spanning Tree (MST) graph theory with a modification of Prim's algorithm. Further, the simulation results show that our proposed approach significantly performs in terms of minimization of the number of individual transmissions in a random sensor network for both isotropic and anisotropic sensing area. © 2019 ieee.

关键词： Energy utilization

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distributed adaptive tracking control of nonlinear multi-agent systems with input saturation

Distributed adaptive tracking control of nonlinear multi-age...

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international conference on Electronics Technology (ICET)

作者： Boxian Lin Weihao Li Kaiyu Qin Xi Chen School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9781728162836

ISBN: (纸本)9781728162843

This paper comes up with a distributed consensus tracking control strategy for second-order agents with input saturation in the presence of nonlinear model uncertainties. The control protocol is composed of two parts: a nearest- neighbor rule based adaptive controller to conduct the convergence with smooth motion paths, and a neural network (NN) term to compensate the nonlinear components in the agent's dynamics. Additionally, actuator saturation is considered and applied by adding saturation functions in each component of the control input which is finally limited to a measurable value. Efforts are made to provide that the input saturation does not affect the achievement of the consensus tracking based on the Lyapunov stability theories. Simulation results show that , under the proposed control law with input saturation, the tracking errors converge to zero, and the NN estimation errors are uniformly ultimately bounded.

关键词： neural network input saturation coordinated tracking uncertain nonlinear systems robust control Uncertain nonlinear system Robust control Neural network Multi-agent systems Saturated control input Adaptive tracking control law control protocol nonlinear device

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An Integrated Visual Signalling, Localisation Health Monitoring System for Soldier Assistance 3

An Integrated Visual Signalling, Localisation Health Monitor...

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3rd ieee international conference on Electrical, Computer and Communication Technologies: Computer Science and Engineering, ICECCT 2019

作者： Hota, Gopabandhu Sharma, Sudarshan Rathore, Aditya Joshi, Shailesh Shah, Het Dept. of EandECE IIT Kharagpur Kharagpur India Dept. of Electrical Engg. IIT Kharagpur Kharagpur India Dept. of Mechanical Engg. IIT Kharagpur Kharagpur India

ISBN: (纸本)9781538681572

To strengthen the security system of a nation, ensuring the safety, whereabouts and healthy body condition of the soldiers is very important. An indoor/outdoor network between the soldiers is effective in terms of informing everyone in the network if anyone is missing or suffering from bad health conditions or if someone wants to communicate with others beyond eyesight. This paper describes the design and implementation of a low-cost embedded system developed for smart soldier assistance, the systems incorporate a gesture recognition based visual signaling, an Ultra Wide Band (UWB) based indoor and short-range outdoor localization and physiological parameter monitoring modules. The modules combined together help in creating a network which is used to track fellow soldiers location and alert messages based on the gesture and health parameters. The gesture recognition module consists of a glove built of flex and IMU sensors;the health monitoring devices comprise of ECG, Temperature and PPG;and the UWB based communication is responsible for alert messaging and indoor localization. © 2019 ieee.

关键词： Body sensor networks

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Predictive CO2-efficient scheduling of hybrid electric and thermal loads 3

Predictive CO2-efficient scheduling of hybrid electric and t...

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3rd ieee international conference on Energy Internet, ICEI 2019

作者： Fiorini, Laura Aiello, Marco Department of Distributed Systems University of Groningen Groningen Netherlands Department of Service Computing University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781728114934

The current energy transition leading towards decentralized generation and low emission sources challenges our energy systems. With multiple energy sources available, the complexity of households as energy systems increases, while growing energy consumptions imply a higher environmental impact that, in the context of decarbonization, needs to be addressed. We investigate the potential for smart homes to lower their environmental impact in terms of CO2 emissions through a home energy management system (HEMS). This is achieved by adopting a model predictive control (MPC) to minimize CO2 emissions due to the consumptions of gas and electricity by scheduling the operation of time-flexible appliances and by changing the energy carriers to supply electric and thermal loads. The scheduling problem is formulated as a mixed-integer linear programming (MILP) program subject to constraints that reflect the users' preferences in operation and allowed delays of individual appliances, as well as main characteristics of different household technologies. Using statistical data available for German households and emission factor of the German power grid, we show that the proposed approach can reduce the daily emissions of a group of 300 households by up to 27% (i.e., 599 kgCO2 eq), while satisfying users' comfort preferences. © 2019 ieee.

关键词： Model predictive control

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Proceedings of DLS 2019: Deep Learning on Supercomputers - Held in conjunction with SC 2019: The international conference for High Performance computing, Networking, Storage and Analysis

Proceedings of DLS 2019: Deep Learning on Supercomputers - H...

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3rd ieee/ACM Workshop on Deep Learning on Supercomputers, DLS 2019

ISBN: (纸本)9781728160115

The proceedings contain 11 papers. The topics discussed include: scaling distributed training of flood-filling networks on HPC infrastructure for brain mapping;strategies to deploy and scale deep learning on the summit supercomputer;deep learning for gap crossing ability of ground vehicles;deep learning accelerated light source experiments;deep facial recognition using tensor?ow;scaling tensorflow, PyTorch, and MXNet using MVAPICH2 for high-performance deep learning on frontera;highly-ccalable, physics-informed GANs for learning solutions of stochastic PDEs;DeepDriveMD: deep-learning driven adaptive molecular simulations for protein folding;and deep learning accelerated light source experiments.

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Temperature-based models of batteries for the simulation of Wireless sensor Networks 19

Temperature-based models of batteries for the simulation of ...

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3rd international conference on Future Networks and distributed systems, ICFNDS 2019

作者： Kadjouh, Nabil Bounceur, Ahcène Tari, Abdelkamel Euler, Reinhardt Lagadec, Loïc Laouid, Abdelkader LIMED laboratory University of Bejaia Bejaia Algeria Lab-STICC CNRS UMR 6285 Université de Bretagne Occidentale Brest France Lab-STICC CNRS UMR 6285 ENSTA Bretagne Brest France LIMED Laboratory University of El-Oued El-Oued Algeria

ISBN: (纸本)9781450371636

The main parameter studied in a simulation of a Wireless sensor Network is the lifetime of the network. In other words, the state of the battery of each node. That is why modelling correctly the battery is very important to obtain realistic results. In real applications, many types of batteries can be considered, where their lifetime depends on the weather variations and on the type of the considered sensor node. In this paper, we present some models of batteries simulated with the CupCarbon simulator. The models are obtained by estimating the consumption of real batteries. This is done by studying series of discharging current values with respect to different voltage values and different temperatures. Furthermore, we implement a new module in the CupCarbon simulator to allow testing the proposed models and to implement new personal models. © 2019 Copyright held by the owner/author(s).

关键词： Energy utilization

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