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Dynamic Analysis of Pair Undulating Propulsors

Dynamic Analysis of Pair Undulating Propulsors

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international Youth conference on Radio Electronics, Electrical and Power Engineering (REEPE)

作者： Aws Ahmad Nikolay Tschur Arkady Yushchenko Ammar Shararh Bauman Moscow State Technical University Moscow Russia Russian State Scientific Center for Robotics and Technical Cybernetics St. Petersburg Russia Tishreen University Latakia Syrian Arab Republic

Designing an autonomous underwater vehicle (AUV) and its control and navigation algorithm depends on the dynamic model of the robot and its propulsion system. this article focuses on the study and analysis of the dynamic model of pair undulating fin and the flow created by the large-scale deformation undulating fin. the purpose of the analysis is to determine the hydrodynamic forces generated by the undulating fin and how they depend on the parameters of the propagating wave along the fin. Calculations were carried out using the ANSYS Fluent 2020 package. the algorithm of user defined functions (UDF) was used to implement the author's deformation algorithm. the issue was considered in URANS formulation using the Menter's SST k-ω turbulence model. Simulation findings indicate that the force generated by the fin can be divided into two distinct components: a force parallel to the fin's longitudinal axis and a force perpendicular to the fin, situated at the fundamental undulating plane. these forces can be adjusted by modifying the frequency, amplitude, and number of waves generated on the fin.

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A specific multi-channel photon-counting unit for air-pollution measurement

A specific multi-channel photon-counting unit for air-pollut...

引用

IEEE international conference on Electronics, Circuits and Systems (ICECS)

作者： P. Papageorgas D. Maroulis S. Karkanis N. theofanous H. Winter H. Albrecht Department of Informatics Panepistimiopolis University of Athens (NKUA) Athens Greece Laser-und Medizin-Technologie GmbH Berlin Berlin Germany

A photon-counting system based on an appropriate microcontroller has been developed. this system controls, acquires, processes and stores the data from a high-resolution multi-channel gas analyzer and provides accurate photon-counting measurements using suitable Photomultiplier Tubes (PMTs) as detectors of the Raman scattering signals. the implemented system ensures low power consumption (90 W for the overall system), low cost, increased reliability and high sensitivity. Also the entire unit allows auto-calibration and drift compensation. Finally, the present photon-counting system can be used in a broad field of applications, in medical electronics (e.g. confocal microscopy), air pollution optical measurements, laser sounding of the atmosphere, and electrooptical systems, provided that PMTs are used in the pulse-counting mode.

关键词： Atmospheric measurements Pollution measurement Power system reliability Optical microscopy Pulse measurements Microcontrollers Optical control Process control control systems Signal analysis

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DFFU-Net: A Novel U Network for Image Manipulation Localization Based on Dual Feature Fusion

DFFU-Net: A Novel U Network for Image Manipulation Localizat...

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Internet of things, automation and Artificial Intelligence (IoTAAI), international conference on

作者： Yan Xiang Dunlu Lu Zhongwei Chen School of Robotics Guangdong Polytechnic of Science and Technology Zhuhai China

ISBN: (数字)9798350386974

ISBN: (纸本)9798350386981

this paper introduces DFFU-Net, an end-to-end network for Image Manipulation Localization (IML) based on a U-shaped encoding-decoding architecture. To address the limitations of current DNN-based IML methods, which struggle with tampered areas of varying shapes and sizes, we propose the Dual Feature Fusion Module (DFFM) to fuse global and local features. DFFM configures an RGB Feature Pyramid (RGBFP) and a Local Noise Feature Pyramid (LNFP) using dual branch ResNet and merges them through multi-scale fusion. Within the LNFP, a specialized Channel-wise High-frequency Filter Block (CHFB) captures fine-grained manipulation traces. Dual ResNets, as the Encoder, extract robust RGBFP and LNFP feature representations, while the Decoder employs Cascaded Convolutional Block Attention Module (CBAM) and Upsampling blocks for predicted mask reconstruction. Experimental results demonstrate that DFFU-Net outperforms state-of-the-art methods on benchmark datasets.

关键词： Location awareness Shape Fuses Noise Computer architecture Feature extraction Information filters Decoding Internet of things Image reconstruction

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Learning and Operator Based control System Design for Soft Robotic Finger with Denial of Service Attack and Input Hysteresis Using Right Coprime Factorization

Learning and Operator Based Control System Design for Soft R...

引用

international conference on Industrial Artificial Intelligence (IAI)

作者： Zizhen An Mingcong Deng Department of Electrical and Electronic Engineering Tokyo University of Agriculture and Technology Tokyo Japan

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

Network attacks generally occurred in practical control system and possibly cause instability even insecurity. Specifically, Denial of Service (DoS) attack is the one that could cut down the connection between equipment and make the feedback signal zero consequently. In this paper, a machine learning based control system design is proposed to deal with the problems caused by DoS attack and input hysteresis in the case of soft robotic finger. the system is accomplished using right coprime factorization (RCF) theory, by which the robust stability of proposed system is guaranteed. In addition, the results of practical experiments are exhibited as well to verify the effectiveness of proposed system.

关键词： Service robots Robust stability Fingers Machine learning Soft robotics control systems Hysteresis

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A New and Innovative Approach to Recognizing a Machine Based on the Structural Fingerprint: Instance Segmentation and Distance Measuring with a Single RGB-D Camera

A New and Innovative Approach to Recognizing a Machine Based...

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international conference on control and Robots (ICCR)

作者： thomas M. Wendt Sinan Süme Amal Kaithavalappil Ajay Work-Life Robotics Institute University of Applied Sciences Offenburg Offenburg Germany

ISBN: (数字)9798331518158

ISBN: (纸本)9798331518165

In this paper an approach to enable mobile robots to localize and position correctly on special machines based on their unique fingerprint in manufacturing is introduced. this is achieved using a single RGB-D camera and the use of Convolutional Neural Networks, i.e. Mask-RCNN. the utilized network is trained on the individual shape of the machine to recognize, classify, and segment it, so the mobile robot can locate the correct machine without any further modifications to the machine. Additionally, the depth information of the identified object is processed to calculate the distance to the machine. For this, real data of special machines were taken, labeled and the Mask-RCNN model was trained. this approach shows promising results, with average values of the Jaccard Index at 95.9 % and the Dice Coefficient at 97.7 %, and an inference time of 0.083 s, enabling real-time detection.

关键词： Instance segmentation Shape Robot vision systems Fingerprint recognition Cameras Real-time systems Manufacturing Mobile robots Object recognition Indexes

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Development of Oral Rehabilitation Robot for Massage therapy

Development of Oral Rehabilitation Robot for Massage Therapy

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IEEE EMBS international conference on Information Technology Applications in Biomedicine (ITAB)

作者： Hiroki Koga Yuichi Usuda Masao Matsuno Yu Ogura Hiroyuki Ishii Jorge Solis Atsuo Takanishi Akitoshi Katsumata Mechanical Engineering Department Waseda University Tokyo Japan Consolidated Research Institute for Advanced Science and Medical Care Waseda University Tokyo Japan Humanoid Robotics Institute Waseda University Tokyo Japan Department of Dentistry Asahi University Gifu Japan

It is well known that the massage therapy is useful for the rehabilitation of various diseases. Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. therefore, we developed a robot system that provides massage therapy to maxillofacial region. the name of our newly developed robot was WAO-1. WAO-1 has been designed to perform appropriate massage to the patients with dry mouth, etc. WAO-1 is composed by two 6-degree of freedom arms with plungers attached at the end-effectors. the massage is applied to the patient by controlling the force and position of the plunger (virtual compliance). As a preliminary step of the clinical application, a simulation therapy of robotic massage to stimulate salivary flow from parotid gland was performed. the dynamic force on patient's head during the massage using WAO-1 was evaluated. the results suggested that WAO-1 could perform equivalent massage to human hand. We expect that WAO-1 will be useful to provide massage therapy to several patients with oral health problems. this will aim in reducing the therapy costs due to the need of human efforts when long-time therapies are needed.

关键词： Rehabilitation robotics Medical treatment Robots Force control Humans Diseases Torso Mouth Arm Salivary glands

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Cognitive radio as solution for ground-aerial surveillance through WSN and UAV infrastructure

Cognitive radio as solution for ground-aerial surveillance t...

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international conference on Electronics, Computers and Artificial Intelligence (ECAI)

作者： Grigore Stamatescu Dan Popescu Radu Dobrescu Department of Automatic Control and Industrial Informatics University “Politehnica” of Bucharest Bucharest Romania

Intelligent collaborative environments, where heterogenous entities operate together in achieving common mission objectives have been increasingly adopted for monitoring and surveillance of interest areas and physical infrastructures. they can be assembled from multiple existing technologies ranging from wireless sensor networks (WSN), terrestrial remote operated vehicles (ROV) and unmanned aerial vehicles (UAV). In this context, we first introduce a multi-level system framework for multi-sensory robotic surveillance of critical infrastructure protection through communication, data acquisition and processing - MUROS. Leveraging a cognitive radio (CR) scheme is discussed as key point of the paper, arguing that by exploiting in an opportunistic fashion the time, frequency and spatial stream of the wireless environment, increased communication reliability can be achieved with positive impact on the availability and service level at each hierarchical level. the application of CR, given the heterogeneous nature of the application across multiple radio interfaces and protocols, stand outs as a novel and feasible research direction. We argument the advantages of this scheme within the constraints of a working scenario and define a simulation-based approach in order to validate our solution.

关键词： Wireless sensor networks Cognitive radio Surveillance Robot sensing systems Collaboration

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Automatic estimation of reverberation time with robot speech to improve ICA-based robot audition

Automatic estimation of reverberation time with robot speech...

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IEEE-RAS international conference on Humanoid Robots

作者： Ryu Takeda Kazuhiro Nakadai Torn Takahashi Kazunori Komatani Tetsuya Ogata Hiroshi G. Okuno Department of Intelligence Science and Technology Graduate School of Informatics Kyoto University Kyoto Japan Honda Research Institute Japan Company Limited Wako Saitama Japan Department of Intelligence Science and Technology Graduate School of Informatics Kyoto University Japan

ISBN: (纸本)9781424445875

this paper presents an ICA-based robot audition system which estimates the reverberation time of the environment automatically by using the robot's own speech. the system is based on multi-channel semi-blind independent component analysis (MCSB-ICA), a source separation method using a microphone array that can separate user and robot speech under reverberant environments. Perception of the reverberation time (RT) is critical, because an inappropriate RT degrades separation performance and increases processing time. Unlike most previous methods that assume the RT is given in advance, our method estimates an RT by using the echo's intensity of the robot's own speech. It has three steps: speaks a sentence in a new environment, calculates the relative powers of the echoes, and estimates the RT using linear regression of them. Experimental results show that this method sets an appropriate RT for MCSB-ICA for real-world environments and that word correctness is improved by up to 6 points and processing time is reduced by up to 60%.

关键词： robotics and automation Reverberation Robots Microphone arrays Speech enhancement Filters Acoustic noise Independent component analysis Source separation Humans

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Fitting the Keeling Curve: Using K-dimensional general linear fitting in LabVIEW

Fitting the Keeling Curve: Using K-dimensional general linea...

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international Youth conference on Radio Electronics, Electrical and Power Engineering (REEPE)

作者： Vladislav S. Popov Informatics and Control Systems Bauman Moscow State Technical University Moscow Russian Federation

the article discusses the use of linear, polynomial and k-dimensional general linear fit for fitting the Keeling Curve in the LabVIEW environment. Description of mathematical models and equations for linear, polynomial and k-dimensional general linear fitting, virtual instruments developed in the LabVIEW environment for curve fitting and extrapolation, as well as the curve fitting and extrapolation results for all considered approximation types in formulaic and graphical forms are presented. Statistical estimates of the different approximation type accuracy are given in the form of calculated standard deviation and variance. With reference to historical and modern studies of the atmospheric CO 2 and global warming level, importance and significance of the problem under discussion and of the study carried out are shown. In particular, the article demonstrates that the Keeling Curve approximation and extrapolation are having a polynomial component, and the CO 2 concentration level is characterized by the polynomial growth. the article presents a method for taking into account the Keeling Curve shape during approximation by using the k-dimensional general linear fit and a special functions basis with high accuracy in approximating the curve cyclic shape. the conclusions made provide areas for future research on this topic.

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Design and implementation of data logger using lossless data compression method for Internet of things

Design and implementation of data logger using lossless data...

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IEEE international conference on System Engineering and Technology

作者： Febrian Hadiatna Hilwadi Hindersah Desta Yolanda Muhammad Agus Triawan School of Electrical Engineering and Informatics Bandung Institute of Technology Bandung Indonesia

ISBN: (纸本)9781509050901

Internet of things (IoT) has the ability to monitor and control various electronic devices. this technology need M2M device that serves as the middleware. the data logger can be developed into M2M devices on the IoT. these devices have limited external data storage memory, which can be useful as a data storage when a transmission failure due to limited network. In the monitoring process with a lot of sensors, data logger capable of transmitting and storing data in memory with limited data. the memory capacity of the data logger limited size can increase the size by using the method of data compression. Compression method used in this device is lossless. Lossless compression method used for data compression in the data logger. this method can restore the size of data that has been compressed to the size of the original. In this study, we obtained the compression ratio (CR) is 50% for the compression method used in the data logger. Time sampling that can be set in data logger is more than ± 1518ms.

关键词： M2M IoT Data Logger Compression Lossless

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