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共 216469 条记录，以下是411-420 订阅

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Digital Twin Integration for Software Defined Vehicles: Decoupling Hardware and Software in Automotive system Development

Digital Twin Integration for Software Defined Vehicles: Deco...

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2023 ieee international conference on systems, Man, and Cybernetics, smc 2023

作者： Purohit, Shatad Madni, Ayesha Adiththan, Arun Madni, Azad M. University of Southern California Los Angeles United States General Motors Warren United States

ISBN: (纸本)9798350337020

The ongoing evolution of Software Defined Vehicles (SDVs) in the automotive industry has drawn attention to the importance of decoupling hardware and software to enable greater flexibility, upgradability, and adaptability in vehicle design and functionality. Digital twin technology, which involves creating virtual models of physical systems with bidirectional communication with the physical system, presents a promising approach for optimizing and validating various aspects of SDVs within this new paradigm. This paper proposes a novel framework for applying digital twins in the context of SDVs, and the benefits derived from decoupling hardware and software. © 2023 ieee.

关键词： Autonomous Vehicle Digital Twin MBSE Ontology Software Defined Vehicles systems Architecture

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Monocular Visual-Inertial system Based on Adaptive Scale Recovery of Structured Features

Monocular Visual-Inertial System Based on Adaptive Scale Rec...

引用

2023 ieee international conference on systems, Man, and Cybernetics, smc 2023

作者： Ma, Chih-Han Wong, Ken-Chiang Hsu, Chih-Ming Chou, Jen-Hsiang College of Mechanical & Electrical Engineering National Taipei University of Technology Taipei Taiwan Institute of Mechatronic Engineering National Taipei University of Technology Taipei Taiwan National Taipei University of Technology Department of Mechanical Engineering Taipei Taiwan National Taipei University of Technology Department of Electrical Engineering Taipei Taiwan

ISBN: (纸本)9798350337020

With the development of technology, the automation industry has gradually improved, and the application of the visual-inertial system has become increasingly prosperous. Self-driving cars and autonomous mobile robots often use the visual-inertial system as a state estimator, and their image information can be used in the artificial intelligence part to provide more information about the robot. The combination of a monocular camera and an inertial sensor has the characteristics of light weight and low power. Monocular Visual-Inertial SLAM is a system that relies on monocular cameras and inertial sensors to perform localization and mapping. Monocular Visual-Inertial SLAM restores its vector to scale with the help of known extrinsic parameter information. However, compared with other methods, it is necessary to be careful in estimating the gyroscope bias of the inertial sensor. The bias and noise of the inertial sensor will directly affect the results of pre-integration, as well as the accuracy of the visual-inertial scale recovery. This phenomenon is called scale uncertainty, which results in feature points with uncertain scale or depth, rapidly reducing the accuracy of pose estimation. This paper proposes an architecture of visual-inertial based on Structure-Scale Adaptivity. In this study, the tightly coupled residual between the structure scale and the pose is designed to provide adaptivity according to the feature conditions, providing system structure and scale constraints, and thus suppressing the problem of scale uncertainty. This study is compared with state-of-the-art algorithms and succeeds in scenarios where other algorithms have failed. It also obtains the best accuracy results in the overall test. Finally, we evaluate our proposed method on VCU-RVI and KITTI datasets, demonstrating the proposed algorithm's effectiveness and feasibility for monocular visual-inertial SLAM. © 2023 ieee.

关键词： GICP Ground Plane Estimation Monocular Visual-Inertial SLAM Scale Estimation

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Recurrent Polynomial-Based FBLS for Adaptive Predictive PID Control of Nonlinear Discrete-Time systems: Comparative Studies on Control Performance and Time Complexity

Recurrent Polynomial-Based FBLS for Adaptive Predictive PID ...

引用

2024 ieee international conference on systems, Man, and Cybernetics, smc 2024

作者： Rospawan, Ali Tsai, Ching-Chih National Chung Hsing University Department of Electrical Engineering Taichung Taiwan

ISBN: (纸本)9781665410205

This paper proposes an adaptive predictive PID control approach using recurrent polynomial-based fuzzy broad learning systems (RP-FBLS) for nonlinear discrete-time dynamic systems. The RP-FBLS combines polynomial-based fuzzy logics, broad learning systems, and recurrent networks to enhance modeling capabilities and adaptive control performance. The RP-FBLS-based adaptive predictive PID controller is evaluated through three simulation case studies on two renowned discrete-time dynamic systems and one experimental study on a heating oven in semiconductor manufacturing. The comparative studies analyze the time complexity and control performance of the proposed approach over existing methods in the aspects of setpoint tracking, disturbance rejection, and robustness. The paper also quantifies the computational effort per sampling instance by considering real-time constraints and highlighting suitability for embedded systems. Simulation results demonstrate the RP-FBLS-based PID controller's efficacy in handling nonlinear dynamics while offering favorable computational performance characteristics. Experimental validations using the heating oven are provided for illustration of the practicability of the proposed method requiring computational efficiency and memory optimization. © 2024 ieee.

关键词： Disturbance rejection

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Conceptualization and Preliminary Development of Statistical Digital Twin and Cyber-Thermophysical system for Advanced Analysis, Monitoring, and Control of the Laser Remelting Process

Conceptualization and Preliminary Development of Statistical...

引用

2023 ieee international conference on systems, Man, and Cybernetics, smc 2023

作者： Bordatchev, Evgueni V. Cvijanovic, Srdjan Wu, Honghe Gorski, Adam Beyfuss, Daniel Tutunea-Fatan, O. Remus National Research Council of Canada LondonON Canada Western University Mechanical and Materials Engineering LondonON Canada

ISBN: (纸本)9798350337020

Laser remelting (LRM) is one of very few universal technologies (i.e., no material removal and no material addition) used in a wide range of manufacturing applications, spanning from surface polishing to functional structuring. Given that LRM is a nonlinear, non-stationary thermodynamic process, its analysis, monitoring, control, and optimization require a comprehensive and fundamental understanding of multiple interlinked laser-material interaction phenomena. Such an understanding is derived from on-line information gained from measurements made during the process by various sensors. Toward this end, this study presents a concept and recent achievement in the development of a statistical digital twin and cyber-thermophysical system towards their use to stabilize, control, and optimize the process. In particular, the digital twin statistically describes the transformation of the initial surface into the LRM topography in terms of thermodynamic transfer functions of remelting and resolidification of surface topography and bulk material. In addition, a cyber-thermophysical system was developed interconnecting the thermodynamic heat-transfer model with the laser beam position, thermal-emission distribution, and overall temperature of the laser-material interaction zone measured and synchronized on-line in space-time position coordinates. The efficiency of the developed cyber-thermophysical system was demonstrated by analyzing the surface formation and process thermodynamics during LRM of H13 tool steel. The preliminary results open new research directions in thermophysics-supported advanced analysis, monitoring, and optimization of LRM, including the implementation of artificial-intelligence methods. © 2023 ieee.

关键词： control cyber-physical system data acquisition data analysis laser remelting monitoring temperature distribution

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Lightweight Cryptography Implementation for Internet of Things Network on FPGA

Lightweight Cryptography Implementation for Internet of Thin...

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2023 ieee international conference on systems, Man, and Cybernetics, smc 2023

作者： Wu, Ruoyu Tian, Guanzhong Ma, Longhua Li, Zhishan Liu, Shanqi College of Information Science & Electronic Engineering Zhejiang University Hangzhou310058 China Ningbo Innovation Center Zhejiang University Hangzhou310058 China Information School NingboTech University Ningbo315100 China College of Control Science and Engineering Zhejiang University Hangzhou310058 China

ISBN: (纸本)9798350337020

With the development of modern communication technology, traditional Internet of Things systems could not provide sufficient support for large data flow, hardware resource, power consumption, and security during transmission. Especially when it comes to the Industrial Internet of Things (IIoT), where the limitations of hardware resource and power consumption are more strict;the requirements of network security and hardware security are much higher. This paper implements a User Datagram Protocol (UDP) communication system, which is encrypted with one of the Lightweight Cryptography, Xoodyak. We aim to design a lightweight encrypted communication platform. Compared with a public key encryption system, our implementation costs much less hardware resource and power consumption, while providing excellent side-channel attack (SCA) protection. Besides, when there is a large burst length of data flow, two asynchronous FIFO can restore those data respectively, so our design can maintain throughput and data integrity in extreme cases. Based on the above properties, our design is relatively ideal in IIoT encryption scenarios. © 2023 ieee.

关键词： Industrial Internet of Things Lightweight Cryptography User Datagram Protocol

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AirTouch: Towards Safe Human-Robot Interaction Using Air Pressure Feedback and IR Mocap system

AirTouch: Towards Safe Human-Robot Interaction Using Air Pre...

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2023 ieee international conference on systems, Man, and Cybernetics, smc 2023

作者： Rakhmatulin, Viktor Grankin, Denis Konenkov, Mikhail Davidenko, Sergei Trinitatova, Daria Sautenkov, Oleg Tsetserukou, Dzmitry Intelligent Space Robotics Laboratory Moscow121205 Russia

ISBN: (纸本)9798350337020

The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that combines an infrared (IR) camera with a wearable marker and airflow potential field. IR cameras enable real-time detection and tracking of humans in challenging environments, while controlled airflow creates a physical barrier that guides humans away from dangerous proximity to robots without the need for wearable devices. A preliminary experiment was conducted to measure the accuracy of the perception of safety barriers rendered by controlled air pressure. In a second experiment, we evaluated our approach in an imitation scenario of an interaction between an inattentive person and an autonomous robotic system. Experimental results show that the proposed system significantly improves a participant's ability to maintain a safe distance from the operating robot compared to trials without the system. © 2023 ieee.

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Teleoperated Omni-Directional Dual Arm Mobile Manipulation Robotic system With Shared Control for Retail Store

Teleoperated Omni-Directional Dual Arm Mobile Manipulation R...

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2024 ieee international conference on systems, Man, and Cybernetics, smc 2024

作者： Lima, Rolif Saha, Somdeb George, Nijil Vakharia, Vismay Parab, Shubham Gaonkar, Sahil Vatsal, Vighnesh Das, Kaushik Tcs Research Tata Consultancy Services Ltd. Karnataka Bengaluru560066 India

ISBN: (纸本)9781665410205

The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter challenges in adapting to the dynamic nature of retail products, often struggling to operate autonomously in novel situations. In this study, we introduce an omni-directional dual-arm mobile robot specifically tailored for use in retail environments. Additionally, we propose a tele-operation method that enables shared control between the robot and a human operator. This approach utilizes a Virtual Reality (VR) motion capture system to capture the operator's commands, which are then transmitted to the robot located remotely in a retail setting. Furthermore, the robot is equipped with heterogeneous grippers on both manipulators, facilitating the handling of a wide range of items. We validate the efficacy of the proposed system through testing in a mockup of retail environment, demonstrating its ability to manipulate various commonly encountered retail items using both single and dual-arm coordinated manipulation techniques. © 2024 ieee.

关键词： Ability testing

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Observer-based Bipartite Containment Control of Multi-agent systems with Input and Output Quantization 14

Observer-based Bipartite Containment Control of Multi-agent ...

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14th international conference on Information Science and Technology, ICIST 2024

作者： Hou, Yanqing Yan, Yan Yu, Shuanghe Marine Electrical Engineering College Dalian Maritime University Dalian China

ISBN: (纸本)9798350353334

This paper presents a sliding mode control (smc) method for the bipartite containment control of multi-agent systems (MASs) under input and output quantization. First, an observer based on the super-twisting algorithm (STA) is used to estimate the unmeasured velocities of followers in finite time, using only quantized position information. Second, an smc controller is developed to achieve bipartite containment control for followers under input and output quantization. The stability analysis ensures that sliding variables and bipartite containment position errors converge within specified ranges determined by the quantization parameters and STA-based observer parameters. Finally, simulation results validate the effectiveness of the proposed smc method. © 2024 ieee.

关键词： Sliding mode control

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Classifying EEG-based Upper Limb Motor Imagery Tasks for Brain-Robot Interface-based system Development 9

Classifying EEG-based Upper Limb Motor Imagery Tasks for Bra...

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9th ieee international conference on Advanced Robotics and Mechatronics (ICARM)

作者： Gurjar, Kuldeep Agrawal, Sanskar Faisal, Kazi Newaj Sharma, Rishi Raj Def Inst Adv Technol Dept Elect Engn Pune 411025 India

ISBN: (纸本)9798350385731;9798350385724

Cognitive robotics and engineering strive to develop brain-robot interfaces (BRI) that enable effective collaboration between robots and humans. The continued advancements in neuroscience, robotics, and machine learning are projected to broaden the scope of BRI applications, ultimately improving human-robot cooperation. A major area of focus for BRI-based system development involves mapping brain activities to control actions through motor imagery (MI) based technologies such as electroencephalogram (EEG). In this paper, a novel technique for classifying different tasks involving MI of upper limb movements from EEG signals is presented. To emphasize the inter-related information within various bands of EEG signals, ratio of band power (RBP)-based features are proposed for categorizing different upper limb-based MI tasks. The combination of these proposed features and an optimized KNN classifier produced remarkable accuracy in classifying diverse MI tasks from EEG signals. This approach was compared with recent methods applied to the same dataset, illustrating its superiority in performance. Furthermore, a comparison between the proposed RBP-based features and conventional band power-based features underscored the effectiveness of RBP-based attributes for classifying MI-related tasks. The improved effectiveness of the proposed approach could lead to progress in BRI-based systems development across a range of applications.

关键词： Brain mapping

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K-Protection of Global Secret in Discrete Event systems Using Supervisor Control

K-Protection of Global Secret in Discrete Event Systems Usin...

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2023 ieee international conference on systems, Man, and Cybernetics, smc 2023

作者： Liu, Ruotian Duan, Wei Mangini, Agostino Marcello Fanti, Maria Pia Polytechnic University of Bari Department of Electrical and Information Engineering Italy School of Electro-Mechanical Engineering Xidian University Xi'an China

ISBN: (纸本)9798350337020

This work addresses the security problem of protecting secrets in the framework of discrete event systems that are modeled by deterministic finite automata. We characterize a global secret that composes of one or multiple states, in which each state is assigned to a security level. A state is said to be protected if any event sequence from the initial state for reaching it contains the amount of protected events equal to or greater than the required security level. In addition, we assume that the protected event labels must be recovered within a bounded of consecutive protected events (called as K-protection). Our objective is to design a K-protection event policy such that the protected secret state pieces satisfy a predefined protection threshold. To this end, we first construct a security automaton that integrates the system state information and its current security level, and a K-protection automaton that lists all the possible protections of event sequences. Then by using the supervisor control theory technique, the valid protecting policy to enforce the security requirement is obtained. Finally, examples are used to illustrate the proposed protection method. © 2023 ieee.

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