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13th international conference on informatics in control, automation and robotics, ICINCO 2016

13th International Conference on Informatics in Control, Aut...

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13th international conference on informatics in control, automation and robotics, ICINCO 2016

ISBN: (纸本)9783319550107

the proceedings contain 21 papers. the special focus in this conference is on informatics in control, automation and robotics. the topics include: Parameter identification and model-based control of redundantly actuated, non-holonomic, omnidirectional vehicles;passivity-based control design and experiments for a rolling-balancing system;time-optimal paths for a robotic batting task;an adaptive terminal sliding mode guidance law for head pursuit interception with impact angle considered;kinematic and dynamic approaches in gait optimization for humanoid robot locomotion;identification and control of the waelz process using infrared image processing;modeling and calibrating triangulation lidars for indoor applications;a comparison of discretization methods for parameter estimation of nonlinear mechanical systems using extended kalman filter: Symplectic versus classical approaches;dynamics calibration and real-time state estimation of a redundant flexible joint robot based on encoders and gyroscopes;visual servoing path-planning with elliptical projections;Mathematical model for the output signal’s energy of an ideal DAC in the presence of clock jitter;stochastic integration filter with improved state estimate mean-square error computation;fractional models of lithium-ion batteries with application to state of charge and ageing estimation;co-operation of biology related algorithms for solving opinion mining problems by using different term weighting schemes;bifurcation analysis and active control of surge and rotating stall in axial flow compressors via passivity;task controller for performing remote centre of motion;toward an automatic fongbe speech recognition system: Hierarchical mixtures of algorithms for phoneme recognition;spatial fusion of different imaging technologies using a virtual multimodal camera.

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Electric Vehicle Charging Demand Prediction using Multiresolution Sinusoidal Neural Network Optimized with Addax Optimization

Electric Vehicle Charging Demand Prediction using Multiresol...

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Trends in Material Science and Inventive Materials (ICTMIM), international conference on

作者： Rajesh Munirathnam Rohit P. Jadhav Nilesh M. Mahajan Amit Barve M. E. Shashi Kumar Natrayan L Data & Analytics Division TechnoGen Inc Hillsborough New Jersey USA Department of Robotics and Automation D.Y. Patil College of Engineering Akurdi Pune Maharashtra Department of Computer Science and Engineering Parul Institute of Technology Faculty of Engineering and Technology Parul University Limda Gujarat Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru Karnataka Department of Mechanical Engineering Saveetha School of Engineering SIMATS Chennai Tamil Nadu

ISBN: (数字)9798331501488

ISBN: (纸本)9798331501495

Electric Vehicle (EV) charging demand prediction, while essential for optimizing charging infrastructure and energy management, faces challenges such as data inaccuracies and uncertainties in user behavior patterns. these issues define inaccurate demand forecasts which cause the wrong placement of charging stations and distribution of energy. Also, as the pattern of the EV charging is not static may change due to many factors such as climate, time of day, price preference among others, the prediction models may not handle the dynamism and hence lower the reliability of the forecast results. To overcome these drawbacks, this manuscript proposes an efficient approach for EV charging demand prediction. the data is gathered from a dataset on EV charging. the data is then sent to pre-processing. Using the Maximum Correntropy Quaternion Kalman Filter (MCQKF), the pre-processing section eliminates missing values and normalizes the input. To forecast EV charging demand, the Multiresolution Sinusoidal Neural Network (MSNN) receives the results of the pre-processing data. MSNN’s weight parameter is optimized using Addax Optimization (AO). the proposed MSNN-AO is utilized within the MATLAB platform. the proposed MSNN-AO technique is compared with the existing techniques such as Long Short-Term Memory Neural Network (LSTMNN), Heterogeneous Spatial-Temporal Graph Convolutional Network (HSTGNN) and Artificial Neural Networks (ANN), respectively. the MSNN-AO method achieves an accuracy of 97%, precision of 95%, and a Root Mean Square Error (RMSE) of 2.2%, demonstrating its superior performance in predicting EV charging demand. this highlights the proposed method’s effectiveness in minimizing prediction errors, reducing RMSE by 22.36%, and improving precision by 14.89% compared to existing methods. the MSNN-AO method’s higher accuracy and precision, coupled with its robust performance, make it a reliable and efficient solution for EV charging demand forecasting.

关键词： Accuracy Uncertainty Quaternions Energy resolution Electric vehicle charging Reliability Kalman filters Spatial resolution Root mean square Optimization

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Adaptive Neural Network control of Lower Limb Exoskeleton Robots Using Disturbance Observer 5

Adaptive Neural Network Control of Lower Limb Exoskeleton Ro...

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5th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Hao, Zhengyuan Liu, Kang Wei, Qiang Univ Sci & Technol China Sch Informat Sci & Technol Dept Automat Hefei Anhui Peoples R China

ISBN: (纸本)9781728164793

this paper raises an adaptive neural network control method for motion tracking of a lower limb rehabilitation exoskeleton robot. this method is based on RBFNN and disturbance observer. the motion tracking is hard to control since it is highly nonlinear, and suffers from large uncertainties. Fitting by the neural network, the dynamic model is linearized. the adaptive linear model is proved to be stable and an adaptive output is found. A bounded equivalent form of the model is obtained based on the adaptive output. RBFNN is adopted to guarantee both control accuracy and strong robustness, and a disturbance observer is used to eliminate the effect of the unknown disturbance online. Experiment results are presented and the results show the validity of the control strategies.

关键词： Exoskeleton (robotics)

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A Standard-compliant Assessment of Beyond-eMBB QoS/QoE in 5G Networks

A Standard-compliant Assessment of Beyond-eMBB QoS/QoE in 5G...

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IEEE conference on Standards for Communications and Networking (CSCN)

作者： Giuseppe Caso Mohammad Rajiullah Anna Brunstrom Luca De Nardis Özgü Alay Marco Neri Department of Mathematics and Computer Science Karlstad University Karlstad Sweden Department of Information Engineering Electronics and Telecommunications Sapienza University of Rome Rome Italy Department of Informatics University of Oslo Oslo Norway Rohde & Schwarz Mobile Network Testing Rome Italy

ISBN: (数字)9798331507428

ISBN: (纸本)9798331507435

5th Generation (5G) mobile systems are being deployed to address the Quality of Service and Experience (QoS/QoE) requirements of several use cases, including enhanced Mobile Broadband (eMBB) and Ultra-Reliable Low Latency Communication (URLLC). While eMBB performance testing inherits well-established methodologies and Key Performance Indicators (KPIs), beyond-eMBB services (i.e., URLLC and eMBBURLLC real-time applications) are often tested by adopting simplistic or in-house methodologies, which do not help towards accurate assessment and comparison. In this paper, we fill this gap by providing a detailed analysis of a methodology, recently standardized by the international Telecommunication Union Telecommunication Standardization Sector (ITU-T), that targets systematic performance evaluations of beyond-eMBB services. the methodology relies on the definition of a QoE KPI, i.e., the interactivity score (i-score), on top of three QoS KPIs measuring service latency, stability, and continuity. To this aim, we perform a multi-service measurement campaign on two 5G networks across two cities in Sweden, during which we run a large number of tests compliant with the ITU-T methodology, and analyze the collected data. Our results empirically validate the methodology, showcasing its ability of capturing heterogeneous service characteristics and requirements, as well as the interdependencies between $\boldsymbol{i}$-score and QoS KPIs, and the impact of different factors on QoS/QoE performance, including user mobility, connection capability, and server location.

关键词： Accuracy Key performance indicator Urban areas Quality of service Ultra reliable low latency communication Traffic control Servers Quality of experience Vehicle-to-everything Testing

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Augmented Reality as a Tool of Increasing the Efficiency of RFID Technology 5th

Augmented Reality as a Tool of Increasing the Efficiency of...

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5th EAI international conference on Future Access Enablers for Ubiquitous and Intelligent Infrastructures, FABULOUS 2021

作者： Husár, Jozef Knapčíková, Lucia Hrehová, Stella Faculty of Manufacturing Technologies with a seat in Prešov Department of Industrial Engineering and Informatics The Technical University of Košice Bayerova 1 Prešov080 01 Slovakia

ISBN: (纸本)9783030784584

the paper is focused on using the possibilities of implementing RFID technology with augmented reality. Today, it has become an element that is becoming more widely known. In this article, we gradually focus on two-second measures in two display units. the first alternative used for the measurement is the use of a UHF Bluetooth RFID reader with Smart glasses on the platform of the Android system. the second alternative is the use of industrial readers in Ethernet connection, its connection to the local wifi network and smart glasses Microsoft HoloLens 2. Both reading systems work on the principle of Ultra Hight Frequency, and therefore, different RFID tags are used in Label, industrial and metal case. For the laboratory measurements, we tested the reading distance of the RFID tag and the ability of intuitive control of applications. Based on the findings, it can be deduced that the implementation of augmented reality can help online monitoring and tracking the progress of production. As a concept, it is based on both proposals from the KANBAN system. the advantage is that suggested versions are mobile and can be directly implemented in manufacturing enterprises. © 2021, ICST Institute for Computer Sciences, Social informatics and Telecommunications Engineering.

关键词： Augmented reality

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Autonomous Inspection of High Tension Transmission Lines Using robotics

Autonomous Inspection of High Tension Transmission Lines Usi...

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IEEE international conference on Emerging & Sustainable Technologies for Power & ICT in a Developing Society (NIGERCON)

作者： Jisha L K Ravi V Angadi Vijayalakshmi A K Sunil Kumar A V Vidya Shree G N Ayodeji Olalekan Salau Dept. of Electrical and Electronics Engineering Presidency University Bengaluru Karnataka India Dept. of Electrical and Electronics Engineering Sir M V Institute of Technology Bengaluru Karnataka India Department of Electrical/Electronics and Computer Engineering Afe Babalola University Ado Ekiti Nigeria Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai Tamil Nadu India

ISBN: (数字)9798331542559

ISBN: (纸本)9798331542566

the Autonomous High Tension Transmission Line Inspection Robot is an innovative solution designed to revolutionize the maintenance and inspection processes associated with high-tension electrical transmission lines. High-tension electrical transmission lines are critical components of the power grid which require regular monitoring to ensure optimal performance, reliability, and safety. Equipped with a combination of GPS Module and wi-fi module, thermal imaging, LiDAR, and other specialized sensors, the robot can traverse the challenging terrain and harsh environmental conditions typically associated with high-tension transmission lines. Its autonomy allows it to navigate the lines without human intervention, reducing the risks associated with manual inspection. the real-time data gathered by the robot is transmitted to a control center, enabling operators to monitor the condition of the transmission lines remotely. this feature facilitates swift decision-making and timely intervention in case of detected anomalies, preventing potential failures and minimizing downtime. the robot's versatility allows it to adapt to various types of transmission lines, making it a flexible solution for diverse infrastructural setups. the Autonomous High Tension Transmission Line Inspection Robot represents a significant advancement in the field of infrastructure maintenance. Its autonomous capabilities, coupled with advanced sensor technology, promise to elevate the efficiency, safety, and cost-effectiveness of transmission line inspection, ensuring the continued reliability and sustainability of high-tension electrical transmission systems.

关键词： Power transmission lines Service robots Inspection thermal sensors Robot sensing systems Real-time systems Maintenance Safety Monitoring Global Positioning System

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the history of creation and development of automated control and design systems on the 'Kamaz' automobile plant 5

The history of creation and development of automated control...

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5th international Scientific conference: History of Computers and informatics in the Former Soviet Union, Russian Federation and in the Countries of Mutual Economic Assistance Council, SoRuCom 2020

作者： Tumbinskaya, Marina Abzalov, Ayrat Tregubov, Vladimir Kazan National Research Technical University Named after A. N. Tupolev-KAI Information Security Systems Department Kazan Russia Kazan National Research Technical University Named after A. N. Tupolev-KAI Applied Mathematics and Informatics Department Kazan Russia

ISBN: (纸本)9781665403184

the paper describes the history of the creation and development of automated control and design systems at the KAMAZ machine-building enterprise. A brief overview of the KAMAZ machine-building enterprise is given. KAMAZ is the main manufacturer of heavy trucks, the company is a fully integrated manufacturer of the trucks, from model development, to the products distribution and service support. the hardware used, the tasks solved during the period 1974-1991 years, modern hardware and information technology are described. Data acquisition and its processing were carried out using CM 1420 computers, then the data was transferred to the KAMAZ Main Computing Center. At the beginning of 1990, a network of registration devices was deployed, a numerical accounting of engines and power units was organized throughout its production cycle. Basic production and management services were chosen as the main direction of automation. In the 80s, the software for solving new tasks was improved, the tasks functions were refined for their computer implementation. With the advent of personal computers, a local computer network was created for tools accounting. the development of modern machine-building production management complexes is described: digital product, digital production, digital services. In the future information technologies development, the tasks are set to create supercomputer technologies for the automotive industry, to develop a digital service for product development with suppliers, to organize an access for technological services to a single information space from low-performance devices, and to create a secure local area network for technological equipment. © 2020 IEEE.

关键词： Automobile plants

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Construction of land base station for uav maintenance automation 15th

Construction of land base station for uav maintenance automa...

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15th international conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Lebedev, Igor Ianin, Anton Usina, Elizaveta Shulyak, Viktor St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences 39 14th Line St. Petersburg199178 Russia St. Petersburg State University of Aerospace Instrumentation 67 st. Bolshaya Morskaya St. Petersburg190000 Russia

ISBN: (纸本)9789811555794

this paper proposes a construction of a land-based base station for automated unmanned aerial vehicle (UAV) maintenance. the station is intended for UAV storage, protection from poor weather conditions, battery replacement and information transfer. UAV data transfer at the station allows to reduce UAV energy consumption in flight. the base station has two levels: the top one and the bottom one. the construction of base station allows to store UAVs with large dimensions, weighting up to 12 kg. the top level of the station consists of a retractable roof and meteo-sensors. the roof design provides for solar panel installation on it, what allows reducing base station energy consumption from batteries. Materials for the roof were chosen with intention to minimize roof weight and reduce load on drives. the bottom level of the base station contains the landing site, the battery replacement mechanism, the landing site lifting mechanism, the base station control system, as well the energy distribution system. the landing site features an ArUco-marker with backlight and includes mechanisms for UAV centering and fixation. the marker with backlight includes a plexiglass sheet, light emitting diodes (LEDs), a reflective substrate and an opaque scatterer. the outline lighting ensures marker detection in low light conditions. In cases, when the marker cannot be detected by active lighting, dependency of the required photosensitivity of the camera from the UAV flight altitude is presented. © the Editor(s) (if applicable) and the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Base stations

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Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot Path Planning 14th

Combining Voronoi Graph and Spline-Based Approaches for a Mo...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Magid, Evgeni Lavrenov, Roman Svinin, Mikhail Khasianov, Airat Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Intelligent Robot Dept Kremlyovskaya Str 35 Kazan Russia Ritsumeikan Univ Coll Informat Sci & Engn Robot Dynam & Control Lab Kyoto Japan Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Kremlyovskaya Str 35 Kazan Russia

ISBN: (纸本)9783030112929;9783030112912

Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. the algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. the comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.

关键词： robotics Path planning algorithm Voronoi diagram Potential field Mobile robot Simulated experiments MATLAB

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informatics in control, automation and robotics 12th international conference, Icinco 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

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2018年

作者： Joaquim Filipe Kurosh Madani Oleg Yu Gusikhin

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