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IEEE International Midwest Symposium on Circuits and systems (MWSCAS)

作者： He, Yixuan Kim, Yong-Bin Northeastern Univ Dept Elect & Comp Engn Boston MA 02115 USA

ISBN: (纸本)9781665424615

This paper proposes a low-power capacitive sensor interface using novel time-compensation technique to eliminate the effect of stray capacitance. The interface comprises a capacitance-to-current converter charging a load capacitor and a time-compensation control system. Even with large stray capacitance, the control system will adjust the charging time, thereby ensuring the same measurement. Besides, the system only requires a few switches and two comparators which makes this technique unique regarding simplicity, low-cost of power and chip area. To prove the idea, the circuit was designed and simulated using 0.18 mu m standard CMOS technology powered from +/- 1V supply. It accomplishes 125kHz measuring frequency, +/- 1pF capacitance variation, and a sensitivity of 0.5mV/fF with only 30 mu W average power consumption. The simulation also shows an accurate output result within 1% difference between 6pF parasitic capacitance and no parasitic.

关键词： CMOS capacitive sensor interface low power C2V time-compensation

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Temperature control system in Egg Incubator Based on PID with Graphical User interface

Temperature Control System in Egg Incubator Based on PID wit...

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Smart Mechatronics (ICSMech), IEEE International conference on

作者： Diky Zakaria Ade Gafar Abdullah Alimudinsyah Alrasyid Muhammad Husni Muttaqin Mahmudah Salwa Gianti Agus Ramelan Department of Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Bandung Indonesia Department of Electrical Engineering Education Universitas Pendidikan Indonesia Bandung Indonesia School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Department of Electrical Engineering Universitas Sebelas Maret Surakarta Indonesia

ISBN: (数字)9798350368918

ISBN: (纸本)9798350368925

Typically, egg incubators available for purchase utilize on-off control to regulate incandescent lamps, which might result in temperature changes. The objective of this research is to develop a temperature control system for the incubation of chicken or duck eggs using PID control with graphical user interface and monitor the humidity level. The DHT11 sensor detects the current temperature and humidity. The target temperature are 37 degrees celsius. The process of temperature regulation is achieved by implementing PID control to adjust the power supply of the incandescent lamp in order to maintain a stable desired temperature. The actual humidity will show in GUI then the user could set on / off the mist maker to disperse water, in conjunction with an exhaust fan. The microcontroller used is the Arduino Nano. The Python QML programming language is used to develop a graphical user interface (GUI) for real-time monitoring and control of temperature and humidity conditions. This interface allows for the adjustment of setpoint settings and PID control parameters. Simulation and validation have been conducted in the context of temperature control. The system has rise time of 47s, settling time of 411s and maximum overshoot of 2,64%. The system has the capability to regulate temperature (37 degrees Celsius) with slight fluctuations.

关键词： Temperature sensors Temperature measurement Filament lamps PI control Humidity Regulation Temperature control PD control Monitoring Graphical user interfaces

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Cross-Scale Haptic Object Recognition for Intelligent Robot 19

Cross-Scale Haptic Object Recognition for Intelligent Robot

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19th IEEE International Wireless Communications and Mobile Computing (IEEE IWCMC)

作者： Li, Ang Lu, Wei Wang, Haoyu Wei, Xin Key Lab Broadband Wireless Commun & Sensor Networ Minist Educ Nanjing Peoples R China Nanjing Univ Posts & Telecommun Nanjing Peoples R China

ISBN: (纸本)9798350333398

Haptic technology enables robots to touch and understand the interactions between objects in the reality. advanced haptic sensing systems can not only collect pressure, temperature and stiffness of touched objects, but also avoid destructive operations, and assist in navigation and posture control for robots. In order to smoothly interact with different types of objects, in the haptic system, it is necessary to develop haptic object recognition methods for effective haptic perception capability. However, compared to RGB images, haptic images collected by optically-based haptic sensors are similar in appearance, which makes traditional convolutional neural networks (e.g.,ResNet, VGG, etc.) ineffective. Therefore, in this paper, we are inspired by popular attention mechanism and multi-scale strategies, and propose a cross-scale attention based haptic object recognition network for object-robot interaction. In particular, On the one hand, we design a cross-scale attention module in convolutional neural networks to acquire spatial contextual feature. On the other hand, we design a learnable bilinear fusion strategy to integrate above spatial contextual feature with original haptic feature, so as to effectively discriminate haptic images. Experimental results on ViTac dataset have shown the effectiveness of our approach.

关键词： haptic object recognition convolutional neural network attention mechanism

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sensor Bias Estimation in Distributed Multi-UUV Bearing-Only Target Tracking

Sensor Bias Estimation in Distributed Multi-UUV Bearing-Only...

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advanced Algorithms and control Engineering (ICAACE), International conference on

作者： Jian Xu Zhuoran Sun College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China

ISBN: (数字)9798331535087

ISBN: (纸本)9798331535094

Bearing-only estimation is a challenging task in distributed multi-UUV (Unmanned Underwater Vehicle, UUV) target tracking. And the system bias of the passive sensors will exacerbate the accuracy of bearing-only estimation. Therefore, in order to improve the accuracy of the estimation, system bias estimation and registration is an essential process. In this paper, after constructing the error pseudo-measurement equation in the Cartesian coordinate system, in response to the problem of that the recursive least squares method is prone to data saturation, a real-time bias estimation algorithm based on weighted forgetting factor recursive least squares (WFFRLS) is carried out. And a real-time bias registration is realized by using extended Kalman (EKF) filter. The simulation comparison results show that the algorithm can estimate the system error more accurately than the classical recursive least squares method, and effectively enhanced the accuracy of bearing-only estimation. In addition, the bias estimation result is very close to the Cramer-Rao Lower Bound (CRLB), which shows that the proposed algorithm is efficient.

关键词： Autonomous underwater vehicles Target tracking Accuracy Simulation Estimation Real-time systems sensor systems Time measurement sensors Least mean squares methods

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Physical Layer Security Performance Optimization of Unmanned Aerial Vehicle-Assisted Wireless Network

Physical Layer Security Performance Optimization of Unmanned...

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advanced Algorithms and control Engineering (ICAACE), International conference on

作者： Zichen Yang Woping Xu College of Information Engineering Shanghai Maritime University Shanghai China

ISBN: (数字)9798350361445

ISBN: (纸本)9798350361452

In the UAV-assisted wireless sensor network communication scenario, it is assumed that there is a UAV receiver, several ground sensors and a ground eavesdropper whose location is unknown. In order to improve the total security rate of the network, a physical layer security performance scheme based on TD3 algorithm is proposed to jointly optimize the trajectory and transmission power of the UAV. First, the approximate location of the eavesdrover is estimated based on Bayesian ranging and iterative least squares RSS positioning algorithm, and then the optimal and efficient UAV trajectory and sensor transmission power are selected to maximize the security rate. According to the derived safe rate expression, an improved double delay depth deterministic gradient strategy algorithm based on DDPG is proposed. The simulation results show that using TD3 algorithm to optimize UAV trajectory can effectively improve the safety speed of the system.

关键词： Wireless sensor networks Simulation Wireless networks Physical layer security Autonomous aerial vehicles Approximation algorithms Trajectory

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Tactile sensor-Based Detection of Partial Foothold for Balance control in Humanoid Robots

Tactile Sensor-Based Detection of Partial Foothold for Balan...

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IEEE-RAS International conference on Humanoid Robots

作者： Taro Tako Rafael Cisneros-Limón Hiroshi Kaminaga Kenji Kaneko Masaki Murooka Iori Kumagai Hiroaki Masuzawa Yohei Kakiuchi Department of Computer Science and Engineering Toyohashi University of Technology Toyohashi Japan CNRS-AIST JRL (Joint Robotics Laboratory) UMI3218/IRL National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Japan IRES2 Toyohashi University of Technology Toyohashi Japan

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

This paper proposes a tactile sensor array to detect partial footholds and a wrench control method for biped humanoid robots using detected partial footholds. The proposed tactile sensor adopts a high-density FSR (Force Sensitive Resistor) array. It can read data within milliseconds. Filtering methods for its high-speed data which provide accurate estimation of contact areas are also proposed. They enable the computation of optimal contact forces. A wrench control method for biped humanoid robots, based on contact area information from detected partial footholds, enables stable force control even in partial foothold situations. The effectiveness of this advanced control system is evaluated through stabilizing and climbing stepladder experiments on partial footholds using an actual humanoid robot.

关键词： Legged locomotion Torque Force measurement Force Tactile sensors Humanoid robots Estimation Torque measurement Foot sensor arrays

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Closed-Loop Color control of a Multichannel LED Lighting system Using a Multilayer Perceptron Network

Closed-Loop Color Control of a Multichannel LED Lighting Sys...

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International conference on systems and control (ICSC)

作者： Abdelhak Goudjil Eric Pigeon Mathieu Pouliquen Tomas Menard Mostafa Kamel Smail IPSA Institute of Polytechnic Science and Aeronautics Ivry-sur-Seine France LIS Systems Engineering Laboratory UNICAEN ENSICAEN Normandie University Caen France GeePs UMR CNRS 8507 CentraleSuplec Université Paris-Saclay Gif-sur-Yvette France

ISBN: (数字)9798331531812

ISBN: (纸本)9798331531829

This paper presents an advanced feedback color control mechanism for multichannel LED lighting systems, leveraging a multilayer perceptron network. This feedback control ensures the maintenance of the desired lighting color by compensating for external light sources and mitigating disturbances. The system incorporates a multi-spectral sensor, a MIMO PI controller, an anti-windup algorithm, a multilayer perceptron network model, and an array of colored LEDs. The results of the color control demonstrate the precision and efficacy of the proposed scheme.

关键词： PI control Lighting Color Multilayer perceptrons Light emitting diodes Nonhomogeneous media Feedback control Maintenance sensor arrays Light sources

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Towards Smart Agriculture Monitoring Using Fuzzy systems

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IEEE ACCESS 2021年 9卷 4097-4111页

作者： Abdullah, Noramalina Durani, Noor Aerina Binti Shari, Mohamad Farid Bin Siong, King Soon Hau, Vicky Kong Wei Siong, Wong Ngei Ahmad, Ir Khairul Azman Univ Sains Malaysia Sch Elect & Elect Engn Engn Campus George Town 14300 Malaysia Univ Teknol MARA Fac Elect Engn Permatang Pauh 14000 Malaysia

Conventional farming is labor-consuming and the need to continuously monitor crops can be a burden for farmers. By realizing the concept of smart farming based on Internet of Things (IoT) technology, farmers can use a mobile application to observe and monitor air humidity, air temperature, and soil moisture-factors that can affect plant growth. Furthermore, the use of timers to control the pumps in conventional watering systems is not always practical in real-life cases. This paper proposes a framework that enables advanced fuzzy logic to control a pump's switching time according to user-defined variables, whereby sensors are the main aspect of and contributor to the system. Our proposed idea offers great potential for excellent performance as an interface between the sensors as the input and the IoT as the output medium. A comparison is made between the proposed system and manual handling. The results prove that the water consumption and watering time has been reduced significantly.

关键词： sensors Fuzzy logic Agriculture Internet of Things Temperature sensors Monitoring Wireless sensor networks Fuzzy logic Internet of Things sensors monitoring system

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Enhancing Occupational Comfort with IoT-based sensor Network in Office Cabins

Enhancing Occupational Comfort with IoT-based Sensor Network...

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Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI), IEEE conference on

作者： R. R. Dube Electronics & Telecommunication Engineering Walchand Institute of Technology Solapur (MH) India

Ensuring a good and healthy workplace environment for employees is of paramount importance, considering the significant amount of time spent at work. Achieving effective monitoring and control of the work environment necessitates the utilization of a microcontroller-based board equipped with an array of sensors and actuators. These sensors are strategically positioned within the cabin where an employee typically works, constantly monitoring various environmental variables. The collected data is aggregated and processed within an ESP32 microcontroller, utilizing predetermined custom threshold values. Based on the processed data, informed decisions are generated, triggering specific signals to the respective actuators. These actuators play a crucial role in adjusting environmental variables within the cabin, striving to create a comfortable and pleasant ambiance for the employee. The results obtained from the sensors and the subsequent actions of the actuators are not only communicated but also stored in both local and cloud-based memory systems. This is facilitated through the application of the secure message telemetry transport (smqtt) protocol, enabling seamless data transmission and storage. In the development of this intelligent workspace, careful attention has been given to ensure an effective system that strikes a balance between efficacy, reasonable cost, and a user-friendly interface. The design process incorporates a simple user interface design application, focusing on ease of use and accessibility. Furthermore, a comprehensive discussion concerning the trade-off between essential factors and cost has taken place, aiming to achieve the best possible outcome. In summary, this research advocates for the creation of an ergonomic and health-conscious work environment through the integration of advanced monitoring and control systems within office cabins. The proposed system, utilizing cutting-edge technology, aims to enhance employee well-being, productivity,

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Design and evaluation of a Multi-Finger Skin-Stretch Tactile interface for Hand Rehabilitation Robots

Design and evaluation of a Multi-Finger Skin-Stretch Tactile...

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IEEE/RAS-EMBS International conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Alexandre L. Ratschat Rubén Martín-Rodríguez Yasemin Vardar Gerard M. Ribbers Laura Marchal-Crespo Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Department of Rehabilitation Medicine Erasmus MC University Medical Center Rotterdam Rotterdam The Netherlands

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in neurorehabilitation has not been well explored. Therefore, we designed and evaluated a tactile interface based on a two-degrees-of-freedom moving platform mounted on a hand rehabilitation robot that provides skin stretch at four fingertips, from the index through the little finger. To accurately control the rendered forces, we included a custom magnetic-based force sensor to control the tactile interface in a closed loop. The technical evaluation showed that our custom force sensor achieved measurable shear forces of ± 8 N with accuracies of 95.2-98.4 % influenced by hysteresis, viscoelastic creep, and torsional deformation. The tactile interface accurately rendered forces with a step response steady-state accuracy of 97.5-99.4% and a frequency response in the range of most activities of daily living. Our sensor showed the highest measurement-range-to-size ratio and comparable accuracy to sensors of its kind. These characteristics enabled the closed-loop force control of the tactile interface for precise rendering of multi-finger two-dimensional skin stretch. The proposed system is a first step towards more realistic and rich haptic feedback during robotic sensorimotor rehabilitation, potentially improving therapy outcomes.

关键词： Training Accuracy Robot sensing systems Magnetic hysteresis Assistive robots Rendering (computer graphics) Neurorehabilitation Skin Steady-state Force sensors

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