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Hybrid Deep Learning with Attention Mechanism based Health State Intelligent Diagnosis of Lithium-Ion Batteries

Hybrid Deep Learning with Attention Mechanism based Health S...

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international conference on control, automation and Diagnosis (ICCAD)

作者： Walid Mchara Mohamed Abdellatif Khalfa Lazhar Manai Laboratory of Robotics Informatics and Complex Systems (RISC) National Engineering School of Tunis (ENIT) University of El Manar Le Belvédère Tunis Higher Institute of Information and Communication Technologies Hammam Chatt Tunisia CRETn Borj-Cedria Photovoltaic Laboratory (LPV) RISC Le Belvédère ENIT University of El Manar Tunis Tunisia

ISBN: (数字)9798350361025

ISBN: (纸本)9798350361032

With the increasing utilization of lithium-ion batteries in electric vehicles, substantial research has been undertaken to ensure the secure and dependable performance of the Battery Management System (BMS). The precise estimation of State of Health (SOH), a pivotal function of the BMS, is critical for the safe operation of electric vehicles. Addressing this challenge, we present a time series model tailored for predicting the State of Health (SOH) of Li-ion batteries. Our approach combines a CNN with a Bidirectional Long Short-Term Memory (BI-LSTM) architecture, enhanced by an attention mechanism. Experimental results demonstrate that this enhanced LSTM approach notably enhances prediction accuracy. The results from this study offer a promising solution for enhancing the reliability and performance of electric vehicle battery systems, ultimately contributing to the widespread adoption and sustainability of electric transportation.

关键词： Lithium-ion batteries Deep learning Accuracy Time series analysis Transportation Predictive models Prediction algorithms

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Robot recognizes three simultaneous speech by active audition

Robot recognizes three simultaneous speech by active auditio...

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IEEE international conference on robotics and automation (ICRA)

作者： K. Nakadai H.G. Okuno H. Kitano Kitano Symbiotic Systems Project ERATO Japan Science and Technology Corporation Tokyo Japan Graduate School of Informatics Kyoto University Kyoto Japan Sony Computer Science Laboratories Inc. Tokyo Japan

Robots should listen to and recognize speeches with their own ears under noisy environments and simultaneous speeches to attain smooth communications with people in a real world. This paper presents three simultaneous speech recognition based on active audition which integrates audition with motion. Our robot audition system consists of three modules - a real-time human tracking system, an active direction-pass filter (ADPF) and a speech recognition system using multiple acoustic models. The real-time human tracking realizes robust and accurate sound source localization and tracking by audio-visual integration. The performance of localization shows that the resolution of the center of the robot is much higher than that of the peripheral. We call this phenomenon "auditory fovea" because it is similar to visual fovea (high resolution in the center of the human eye). Active motions such as being directed at the sound source improve localization because of making the best use if the auditory fovea. The ADPF realizes accurate and fast sound separation by using a pair of microphones. The ADPF separates sounds originating from the specified direction obtained by the real-time human tracking system. Because the performance of separation depends on the accuracy of localization, the extraction of sound from the front direction is more accurate than that of sound from the periphery. This means that the pass range of ADPF should be narrower in the front direction than in periphery. In other words, such active pass range control improves sound separation. The separated speech is recognized by the speech recognition using multiple acoustic models that integrates multiple results to output the result with the maximum likelihood. Active motions such as being directed at a sound source improve speech recognition because it realizes not only improvement of sound extraction but also easier integration of the results using face ID by face recognition. The robot audition system improved

关键词： Robots Speech recognition Humans Real time systems Ear Acoustic noise Working environment noise Active filters Robustness Microphones

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Research on Air Passenger Baggage Tracking Based on Consortium Chain

Research on Air Passenger Baggage Tracking Based on Consorti...

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2019 2nd international conference on informatics, control and automation (ICA 2019)

作者： Qing-ji GAO Li-tian SUN Ji-guang ZHENG Institute of Robotics Civil Aviation University of China

Air passenger baggage transportation has such a long time and space span that it is difficult to *** at baggage transportation process of air passenger check-in with baggage,blockchain technology was combined with baggage handling system to study whole process tracking and real-time monitoring *** chain architecture model applied to baggage tracking system is *** tracking mode based on the model and connection method of data space and physical space are *** of baggage in physical space can be sensed on blockchain data *** experiment verifies traceability and safety of the method,which can improve normal rate of baggage transportation.

关键词： Blockchain Consortium chain Baggage tracking Architecture model Tracking mode

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Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

Efficient kinematic solution to a multi-robot with serial an...

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2010 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Houxiang Zhang Gionata Salvietti Wei Wang Guoyuan Li Junzhi Yu Jianwei Zhang Department of Informatics University of Hamburg Germany Department of Information Engineering University of Sienna Italy Robotics Institute Beijing Aeronautics and Astronautics University Beijing China Institute of Automation Chinese Academy and Sciences Beijing China

This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism and the extended workspace of a serial mechanism. However, the kinematic analysis of the serial and parallel mechanism is always the bottleneck in designing a robot and control realization. In order to deal with this problem, the whole kinematical analysis is organized in the sequence from the direct mechanical analysis related to the serial and parallel mechanism over the numerical solutions to the simplified kinematics expression. The latest results obtained demonstrate that the deduced closure-form solution is time efficient and easy to implement while offering a satisfactory motion performance in on-site experiments.

关键词： Jacobian matrices Robots

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Associating and reshaping of whole body motions for object manipulation

Associating and reshaping of whole body motions for object m...

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2009 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Hirotoshi Kunori Dongheui Lee Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

Since humanoid robots have similar body structures to humans, a humanoid robot is expected to perform various dynamic tasks including object manipulation. This research focuses on issues related to learning and performing object manipulation. Basic motion primitives for tasks are learned from observation of human's behaviors. An object manipulation task is divided into two types of motion primitives, which are represented as hidden Markov models (HMMs): one for a body motion primitive and the other for the relation between the object and body parts, which manipulate the object. When performing a task, a natural whole body motion is associated from an object motion by using learned motion primitives. Furthermore, the associated body motion is reshaped in both spatial and temporal space, in a more precise way. The reshaping in spatial space is realized in two stages by a feedback control policy learned with reinforcement learning and by constrained inverse kinematics. Key features like end-effectors for manipulation and timing for a task are extracted and used for the feedback control policy learning. The reshaping in temporal space is realized by comparing a predicted and observed object motion speed.

关键词： Humans Robot kinematics Humanoid robots robotics and automation Service robots Intelligent robots Neuroscience Biological system modeling Hidden Markov models Feedback control

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Adaptive gain sliding observer based sliding controller for uncertain parameters nonlinear systems. Application to flexible joint robots

Adaptive gain sliding observer based sliding controller for ...

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IEEE conference on Decision and control

作者： A. Filipescu L. Dugard J.-M. Dion Department of Automation Applied Informatics and Electronics University Dunarea de Jos of Galati Galati Romania Laboratoire d'Automatique de Grenoble CNRS-INPG-UJF ENSIEG Saint Martin d'Heres France

An adaptive gain smooth sliding controller, based on a smooth sliding observer, is developed to control nonlinear SISO affine systems with uncertain parameters and state functions. Furthermore, an adaptively updated parameter term is introduced in the steady state space model of the controlled system in order to obtain useful information despite fault detection. Using a sliding observer with smooth switching function and adaptive gain increases the robustness w.r.t. uncertainties. The adaptive gains smooth sliding observer and controller are designed to fulfill the attractiveness condition on the corresponding switching surfaces. An application to a single arm, flexible joint robot is presented. In order to alleviate chattering in the observer and the controller, a parameterized tangent hyperbolic is used as a switching function, instead of a pure relay one. The gain of the switching function is adaptively updated, depending on the estimation error or on tracking error.

关键词： Programmable control Adaptive control Nonlinear control systems control systems Nonlinear systems Robots Sliding mode control Orbital robotics Steady-state control system synthesis

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TiV-ODE: A Neural ODE-based Approach for controllable Video Generation From Text-Image Pairs

TiV-ODE: A Neural ODE-based Approach for Controllable Video ...

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IEEE international conference on robotics and automation (ICRA)

作者： Yucheng Xu Nanbo Li Arushi Goel Zonghai Yao Zijian Guo Hamidreza Kasaei Mohammadreza Kasaei Zhibin Li School of Informatics University of Edinburgh UK College of Information and Computing Sciences University of Massachusetts-Amherst US Department of Electrical and Computer Engineering Boston University US Department of Artificial Intelligence Bernoulli Institute University of Groningen The Netherlands Department of Computer Science University College London UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Videos capture the evolution of continuous dynamical systems over time in the form of discrete image sequences. Recently, video generation models have been widely used in robotic research. However, generating controllable videos from image-text pairs is an important yet underexplored research topic in both robotic and computer vision communities. This paper introduces an innovative and elegant framework named TiV-ODE, formulating this task as modeling the dynamical system in a continuous space. Specifically, our framework leverages the ability of Neural Ordinary Differential Equations (Neural ODEs) to model the complex dynamical system depicted by videos as a nonlinear ordinary differential equation. The resulting framework offers control over the generated videos’ dynamics, content, and frame rate, a feature not provided by previous methods. Experiments demonstrate the ability of the proposed method to generate highly controllable and visually consistent videos and its capability of modeling dynamical systems. Overall, this work is a significant step towards developing advanced controllable video generation models that can handle complex and dynamic scenes.

关键词： Computer vision Computational modeling Ordinary differential equations Aerospace electronics Mathematical models Nonlinear dynamical systems Image sequences

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Flexible control of a grasping object with posture error

Flexible control of a grasping object with posture error

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： Y. Hasegawa M. Higashiura T. Fukuda Department of Micro System Engineering University of Nagoya Japan Department of Mechano Informatics System Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Error correction Grasping Fingers Robots Systems engineering and theory Numerical simulation Solids Genetic programming robotics and automation Robust control

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Simulation Platform for Cooperative Vehicle Systems

Simulation Platform for Cooperative Vehicle Systems

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Andrs E. Gómez Tiago C. dos Santos Carlos Massera Filho Diego Gomes Juan C. Perafan Denis F.Wolf Mobile Robotics Laboratory University of So Paulo (USP)Av. Trabalhador So-Carlense

Road accidents is one of the major cause of deaths *** is also one of the main problems in large *** development of intelligent transportation systems may contribute to the solution of both *** vehicles have been addressed by the academic community for decades and recently have been obtaining a considerable attention from the *** of the next steps for such technology is the development of communication systems that allow cooperative driving,which could improve the traffic *** paper proposes a simulation framework for the development of cooperative driving *** framework is capable of accurate simulation of vehicles,sensors,complex environments,and wireless communication between *** is also compatible to well known robotic control middlewares,allowing portability of the develop code between real and simulated test *** of cooperative adaptive cruise control with multiple vehicles are presented to validate the framework proposed.

关键词： simulation Simulation Platform for Cooperative Vehicle Systems

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The “Floor-Wall” Traffic Scenes Construction for Unmanned Vehicle Simulation Evaluation

The “Floor-Wall” Traffic Scenes Construction for Unmanned ...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Yaochen Li Yuehu Liu Chi Zhang Danchen Zhao Nanning Zheng Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University

A new framework to construct 3D traffic scenes for unmanned vehicle simulation evaluation is proposed in this ***"floor-wall"geometry is applied for traffic scenes construction process which consists of two *** first stage is road planes specification implemented by support vector machine(SVM)and Markov random field(MRF)using *** the second stage,control nodes of road boundaries are specified to construct background *** traffic elements are supplemented,which are assumed to stand perpendicularly to the road *** viewpoint images can be generated according to the virtual vehicles’positions in model *** on the scene models,traffic incidents can be simulated by properly organizing the background scenes and the supplemented foreground traffic ***,the abilities of unmanned vehicles can be evaluated.

关键词： MRF Floor-Wall The Traffic Scenes Construction for Unmanned Vehicle Simulation Evaluation

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