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A Perspective on Prioritized Tracking control for Robotic Systems with More Outputs than Inputs 2021

A Perspective on Prioritized Tracking Control for Robotic Sy...

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5th international conference of the robotics Society on Advances in robotics, AIR 2021

作者： Rao, Aishwarya Vinayak Kadam, Sujay Dilip Palanthandalam-Madapusi, Harish J IIT Gandhinagar India

ISBN: (纸本)9781450389716

Robot trajectory tracking is a pervasive requirement in many robotic applications and is an active area of research. there are a number of different approaches and algorithms available for tracking problems. However, for systems with more outputs than inputs, it is not possible to track all outputs commands independently of each other. In such a situation, one may require a subset of the outputs to be tracked more closely than others. In this paper, we explore the possibility of including an additional dynamic prioritization feature to existing linear tracking controllers. With the help of time-varying weighting matrices, one can prioritize a subset of outputs or a combination of outputs as per the needs of the application. A simple metric to quantify the expected tracking performance (incorporating the effect of prioritization) before actual implementation and measurement is also presented along with simulation results. Some preliminary results of using a similar approach of prioritized tracking in nonlinear systems using feedback linearization controllers is also presented. Finally, the use of prioritized tracking in case of quadcopter station-keeping problem under the influence of wind disturbances is demonstrated to highlight its practical utility. © 2021 ACM.

关键词： robotics

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Automatic Domain Extension and Optimization Based on Set-theory 17th

Automatic Domain Extension and Optimization Based on Set-T...

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17th international conference on informatics in control, automation and robotics, ICINCO 2020

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian von Wichert, Georg Feiten, Wendelin Zhang, Jianwei Siemens AG Corporate Technology Otto-Hahn-Ring 6 Munich81739 Germany Faculty of Mathematics Informatics and Natural Sciences University of Hamburg Vogt-Kölln-Str. 30 Hamburg22527 Germany

ISBN: (纸本)9783030924416

Autonomous machines promise more flexibility and robustness changes in their environment compared to manually programmed solutions in industrial applications. However, the autonomous planning of actions involves discrete as well as continuous properties, which results in a np-hard planning problem. Especially for multiple machines and long planning horizons the design of domains requires a lot of fine tuning and thus manual effort. Modularization and reuse of existing domain knowledge with formalized models is one solution to this issue. However, the models of different projects tend to be misaligned, in particular when several parties contributed to the project, which deteriorates the performance. In this paper, we present two domain optimization and extension algorithms, which adapt the models to facilitate planning. the first algorithm handles inconsistent units, or even misaligned pieces of sub-information. It automatically generates conversions and allows to call operations with a wider range of input types. the second algorithm aligns models from different sources with varying modeling views. After this reformulation, we can compose models more efficiently to a larger domain. For both optimizations, we rely on the formal set-based models that we also use in our previously presented hierarchical planning algorithm. Our hierarchical approach allows an almost linear scalability with the length of the plan. However, it comes with non-optimality effects due to the imposed intermediate goals that depend on the quality of the model. the optimization algorithms of this paper allow to adapt and extend the model so that valid shortcuts reduce these suboptimalities. We conduct experiments on a task and motion assembly problem, demonstrating scalability for up to 62 parts and plans with over 1000 steps, which either result in discrete state or high-level position changes, with planning times of less than 15 min. Our experiments also include the successful plan execution o

关键词： Scalability

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Measurement Oxygen Saturation Based on Amplitude of Single Wavelength of Photoacoustic Signal from Finger Tips: this establishes the formula to map features of photoacoustic (PA) signals/images with oxygen saturation directly. 21

Measurement Oxygen Saturation Based on Amplitude of Single W...

引用

5th international conference on Medical and Health informatics, ICMHI 2021

作者： Tsai, Ming-Chun Shen, Tsu-Wang Ou, Ting-Ku Lee, Tian-Fu Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Medical Informatics Tzu Chi University Hualien Taiwan

ISBN: (纸本)9781450389846

Oxygen saturation (SO2, %) describes oxygen status of human blood, which is widely used for diagnosis in medical area. A photoacoustic system is designed to measure oxygen saturation by using a 638 nm single light source as the trigger to convert response ultrasound to SO2 (%). A convert formula is successfully provided and the best performance is located on SO2 range from 94%-98%. © 2021 ACM.

关键词： Diagnosis

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JumPark Bah!©: Utilizing Smart City Infrastructure in Parking Management System for Kota Kinabalu Smart City 5

JumPark Bah!©: Utilizing Smart City Infrastructure in Parki...

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5th international conference on Robotic automation System 2021, ICORAS 2021

作者： Khamis, Norazlina Rosli, Sarah Nafisa Tahir, Asni Faculty of Computing and Informatics Universiti Malaysia Sabah Jalan UMS Sabah. Kota Kinabalu88400 Malaysia

Kota Kinabalu (KK) is one of the pilot cities to implement smart city infrastructure in Malaysia. Given this privilege, lots of apps are needed to enable the city folks taking advantage of the highspeed bandwidth infrastructure. One of it is moving towards smart environment and smart government through supporting the green environment and cashless payment system for parking purposes. this paper describes the effort on the development of an apps, JumPark Bah! as an alternative to the current coupon-based parking system handled by the local authorities, Kota Kinabalu City Hall (KKCH). the current approach is quite cumbersome for KK city folks as they need to have a valid parking coupon displayed on the dashboard to park their car around KK city area. they must be able to correctly estimate the parking time or else summon will be issued if the parking time is exceeded. As for the KKCH, they need to assign many parking attendants for checking and validating the parking session. thus, JumPark Bah! has been proposed as an alternative solution for KKCH by utilizing the concept of cashless payment parking system and is able to minimize the above-mentioned issues. the apps consist of a mobile application (for citizen and parking attendant) and the web-based system (for admin, i.e., KKCH). the web-based system allows the authority to monitor the fees, generate a report and even updates the user through announcement and news functionality. Based on the user evaluation using System Usability Scale (SUS), it has been found that JumPark Bah! has achieved 71.06% score which exceed the 68% score for good usability target. © Published under licence by IOP Publishing Ltd.

关键词： Smart city

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the long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

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Annual international conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. the synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. the result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. the electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. this technology can be applied in pipeline surveillance in the future.

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ARMER: Modular and Semi-Autonomous Supernumerary Robotic Limbs for Disaster Relief 2021

ARMER: Modular and Semi-Autonomous Supernumerary Robotic Lim...

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5th international conference of the robotics Society on Advances in robotics, AIR 2021

作者： Manisekaran, Parthan Shreyanka, S.G. Sujeet Tripathi, Shikha Sudarshan, T.S.B. Centre For Robotics Automation And Intelligent Systems Dept. of ECE PES University Bangalore India

ISBN: (纸本)9781450389716

the design and implementation of a semi-autonomous Supernumerary Robotic Limbs (SRL) for disaster relief to ease the workload of disaster rescue teams during calamities like earthquakes is proposed in this work. the key parameters considered are modularity, ease of use, payload and accuracy. A 3D printed portable Robotic Limb has been designed that can be carried by the user on the shoulder with a backpack-like structure and can be used to push debris along the line of sight. Existing Supernumerary robotic limbs work on the principle of leader-follower concept wherein the user must mimic the action required following which the robot performs the same action. In a time-constrained, unpredictable environment like disaster, this might not be feasible. the proposed design is equipped with an RGBD camera that can detect the debris 'selected' by the user and can autonomously push the debris. this technique can save time and the effort required in leading the robot or remote controlling it. To test the proof of concept, dimensions of the SRL has been downscaled and the accuracy of detection of debris by the robot, maximum payload that can be pushed, and the impact of the limb if equipped by a human user has been computed. We then interpolate and compare the results to the actual scale SRL. the modularity of the SRL has been analyzed and different end-effectors based on the function and capacities required have also been incorporated in the design. © 2021 ACM.

关键词： Robots

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Blockchain Based Multi App Spy System

Blockchain Based Multi App Spy System

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international conference on Contemporary Computing and informatics (IC3I)

作者： Smriti Pal Vishwas Kumar BSP QCOM Part SRI Noida Samsung Electronics Noida Uttar Pradesh India

Stealing personal information without users’ knowledge is one of the very common phenomena of the internet world in today’s era. We use multiple applications on our android smartphones or tablets. While using such applications, they often ask for hardware resource permission usage for running like camera, microphone or device location, etc. We access and deny them as per our intelligence but sometimes, even after denying certain permission, it is found that certain applications try to manipulate our system into accessing such requests and try to steal our device information. Multi App Spy System is designed to keep track of applications and monitor each and every resource request made by them and compare them with the permissions granted by the user in order to check which applications are making unauthorized requests and record them in blockchain database. With the help of such a system, users will be able to store every malicious access and access and control them as per their requirement.

关键词： Privacy Databases Cameras Hardware Blockchains National security informatics

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5th EAI international conference on Computer Science and Engineering in Health Services, COMPSE 2021

5th EAI International Conference on Computer Science and Eng...

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5th EAI international conference on Computer Science and Engineering in Health Services, COMPSE 2021

ISBN: (纸本)9783030874940

the proceedings contain 17 papers. the special focus in this conference is on Computer Science and Engineering in Health Services. the topics include: Performance Evaluation of Healthcare Systems Using Data Envelopment Analysis;organizational Efficiency in the Implementation of 4.0 Technologies in Logistics Operators in the Colombian Caribbean Region;sustainability Model for the Livestock Sector in the Department of La Guajira - Colombia;design of a Logistics Network Using Analytical Techniques and Agent-Based Simulation;a Predictive Performance Measurement System for Decision Making in the Supply Chain;implementation of Intelligent automation of Production Processes in the Company Espumados del Litoral in the City of Barranquilla;a Look at the Literature Review of the Impact of Industry 4.0 on the Logistics Processes of the Food Sector in Barranquilla;A Life Cycle Assessment (LCA) of Antibacterial Gel Production;An Alternative Model to Estimate Annual Budget through TDABC Methodology in Hospitals;ARM: A Real-Time Health Monitoring Mobile Application;Network Coding and Dispersal Information with TCP for Content Delivery;sentiment Analysis Model on Twitter About Video Streaming Platforms in Mexico;an Asset Index Proposal for Households in Mexico Applying the Mixed Principal Components Analysis Methodology;a Data-Driven Study to Highlight the Correlations Between Ambient Factors and Emotion;telerehabilitation Prototype for Postural Disorder Monitoring in Parkinson Disease.

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Analyzing robotics and Computer Integrated Manufacturing of Key Areas Using Cloud Computing

Analyzing Robotics and Computer Integrated Manufacturing of ...

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international conference on Contemporary Computing and informatics (IC3I)

作者： Awaneesh Gupta Anil Kumar Dixit K. Suresh Kumar C Lavanya M. Kalyan Chakravarthi Durgaprasad Gangodkar Department: Master of Computer Applications United Institute of Management Prayagraj Dr. AKTU Lucknow Uttar Pradesh India Department of LCD Uttaranchal University Dehradun India Department of MBA Panimalar Engineering College Varadarajapuram Poonamallee Chennai Department of CSE Bannari Amman Institute of Technology Sathyamangalam School of Electronics Engineering VIT - AP University Amaravati Andhra Pradesh India Department of Computer Science & Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India

the rising customer demands are fulfilled by the industrial sector through increased output and expedited shipping. the objectives or satisfied through the manufacturers by using cloud technologies. Tiers of manufacturing sectors adopt with the proposed technology in the future for maintaining the connection shows with the supply chain as well as customers. Cloud computing is referred as abstraction of storage, computation and infrastructure of network altogether as the platform which allows application deployment in speedy manner and dynamic scaling as well. the crucial area in cloud computing is self-service that can allow users to fill the web-form easily and quickly. A novel technical approach to job execution and resource sharing compared to conventional industrial robots is provided by Smart Manufacturing Environments, which uses cloud robotics. SME can be built up on the combination of cloud computing and industrial robots. the main focus of the proposed study is to successfully enabling the manufacturing services on demand which is provided over the internet. Manufacturing services with Cloud-based equipment can also be used by companies attempting to convert Collaborative Robots, Pa-as-you go business models, and production of increasing the productivity of production facilities, raising the caliber of products, enhancing producers’ capacity to adapt to shifting consumer needs, and entering new markets.

关键词： Cloud computing Service robots Scalability Computational modeling Supply chains Software systems Manufacturing

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Developing Algorithms for Personalized Recommendations Based on User Behavior

Developing Algorithms for Personalized Recommendations Based...

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international conference on Inventive Research in Computing Applications (ICIRCA)

作者： M. Sangeetha B Srinivasa Kumar K Chokkanathan Ashok Kumar S. Krishna Prabha Sivakumar Sattanathan J K Periasamy Department of Computer Science Dr.N.G.P. Arts and Science College Coimbatore Tamil Nadu India Department of Engineering Mathematics Koneru Lakshmaiah Education Foundation Guntur(D.T) Andhra Pradesh India Department of AI Madanapalle Institute of Technology and Science Madanapalle Andhra Pradesh India Department of Computer Science BanasthaliVidyapith Rajasthan India Department of Mathematics PSNA College of Engineering and Technology (Autonomous) Dindigul Tamil Nadu India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India Department of Computer Science and Engineering Sri Sairam Engineering College Chennai Tamil Nadu India

To enhance the performance of user personalized recommendation algorithms, this study offers a user personalized recommendation calculation based on deep learning network. Efficient and accurate personalized recommendation algorithms can effectively increase user experience fulfillment. Considering user behavior, this research suggests a useful advice. We offer a preference network that might gather user preferences based on item qualities since customers intuitively convey their considerations based on some specific attributes of items. Moreover, weighted affiliation rules are used to identify these patterns to enhance the nature of recommendations because there are some sequential patterns in item purchases. We offer a preference network that might gather user preferences based on item qualities since customers intuitively convey their contemplations based on some specific attributes of items. Moreover, weighted affiliation rules are used to identify these patterns to enhance the nature of recommendations because there are some sequential patterns in item purchases. the methodology solves the sparsity problem and outperforms existing algorithms. Implementing a user behavior-based recommendation method, which gauges users' interests based on certain evaluations of item qualities, is the primary commitment. Furthermore, this strategy makes use of a sequential purchase pattern to raise the caliber of recommendations.

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