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Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidirectional Aerial Manipulator

Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidi...

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international conference on Robotics and Artificial Intelligence (ICRAI)

作者： Hameed Ullah Santos Miguel Orozco Soto Naveed Mazhar Irfan Ahmad Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Science and Technology College Autonomous University of Mexico City Mexico City Mexico Unmanned Vehicles Research Lab DEE CEME National University of Sciences & Technology Islamabad Pakistan Department of Automatic Control and Systems Engineering School of Bilbao University of the Basque Country Bilbao Spain

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This paper presents the pushing and rotation of a heavy rigid body using an omnidirectional actively tilted aerial manipulator, controlled via a hybrid force/position controller. Unlike conventional unmanned aerial vehicles, the proposed system enables precise horizontal force application, making it ideal for aerial physical interaction tasks. The hybrid controller is implemented in the Robot Operating System and validated through extensive simulations in a Gazebo physics-engine-based environment. The manipulator's performance was evaluated in two scenarios: circular trajectory tracking and the rotation of a heavy rigid mass. Results demonstrated its capability to follow complex trajectories with high accuracy and exert sustained forces for object manipulation. The system exhibited excellent stability and precision, underscoring its potential for real-world applications in challenging environments.

关键词： Accuracy Trajectory tracking Force Refining Rotors Stability analysis Robustness Trajectory Robotics and automation Manipulator dynamics

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Low Energy Consumption Power Inspection Solution Based on Cloud-Fog-Edge Ladder Collaboration Technology

Low Energy Consumption Power Inspection Solution Based on Cl...

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electrical engineering and control science (IC2ECS), international conference on

作者： Qingxian Zhao Shaotong Pei Ying Zou Xiaoyan Zhao Rui Yang Chenlong Hu Xueting Bai Peiyao Wu Department of Electric Power Engineering North China Electric Power University Baoding City Hebei Province China Department of Mechanical Engineering North China Electric Power University Baoding City Hebei Province China

The deployment method of cloud computing is commonly used for artificial intelligence algorithm in current power inspection technology. For the outstanding problems such as huge energy consumption, low efficiency and poor timeliness of cloud computing, this paper proposes a low-energy power inspection scheme based on “cloud-fog-edge” collaborative technology. The portable AI diagnostic device at the edge side and the fixed UAV library at the fog side are developed respectively, and the method of two-level traffic offloading and cooperative diagnosis is adopted to sink the AI computing power to the edge side and reduce the pressure of 5G base stations and central servers, so as to achieve the global optimization of system energy consumption and the accurate identification of power equipment defects. To complete an inspection task in cloud computing mode, the system consumes 22,000~32,000 KW·h; to complete an inspection task in cloud edge collaboration mode, the system consumes 12,000~18,000 KW·h at the highest, reducing 16.93%~63.10%; to complete an inspection task in cloud fog edge collaboration mode, the system consumes 7,400~11,000 KW·h, reducing 48.8~77.25%, while the timeliness, accuracy, data security, system stability and inspection efficiency of identification have been greatly improved.

关键词： Cloud computing Energy consumption Collaboration Inspection Propagation losses Libraries Servers

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Research on intelligent alarm garbage processing system based on internet of things

Research on intelligent alarm garbage processing system base...

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2022 international conference on Artificial Intelligence, Internet of Things and Cloud computing Technology, AIoTC 2022

作者： Zhao, Xiaotong Jia, Song Yang, Xiaoxia Zhang, Chengming Wang, Hui Shandong Agricultural University College of Information Science and Engineering Taian China China Unicom tai'An Branch Taian China

The Internet of Things is the use of sensing technologies to obtain various parameters of objects, environmental information, and back-end data analysis and processing through various wireless communication technologies to enable intelligent control of the real world[1]. At the core of IoT is connecting objects to the network. The future of the Internet of Things is an artificial intelligence that perceives life and makes decisions about actions. It can integrate blockchain, artificial intelligence[2], wearable devices, robotics, augmented reality, autonomous driving, vehicular networking[3], drones and other technologies. As people's perceptions of fire safety have improved, fire accident detection and alarm technologies are gaining more attention. A set of smart garbage alarm processing systems based on the Internet of Things has been designed to address the problem of spontaneous combustion in garbage cans that cannot be extinguished in time and cause fires. The system is based on sensor detection technology, under the control of STM32 microcontroller control system, combined with LoRa communication technology[4] and GPS positioning technology, to achieve remote automatic alarm function[5]. This research on such a system has enabled intelligent alarm processing techniques based on the Internet of Things that can accurately and timely warn of fires and can be used for garbage can alarms in communities and other public places. It is a new type of Internet of Things-based fire alarm technology that can be used in garbage alarm systems in public places. © 2022 Copyright for this paper by its authors.

关键词： Internet of things

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AWE Feedback on the Effectiveness of the automatic Scoring System for English Writing 9th

AWE Feedback on the Effectiveness of the Automatic Scoring S...

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9th international conference on Signal and Information Processing, Network and Computers, ICSINC 2021

作者： Zhao, Xiangyu Kidston, Madeline School of English Jilin International Studies University Jilin Changchun130117 China Shizuoka University Shizuoka Japan

ISBN: (纸本)9789811947742

This study aims to prove the effectiveness of AWE (automated writing evaluation) feedback in English writing with the aid of the online grading system—Pigaiwang. A contrastive teaching experiment was employed with one class as experimental class and another class as control class. The two classes were required to take a pre-test to decide their writing level and a post-test to check their improvement. After a semester’s teaching experiment, the data was collected and analyzed. The results showed that most students in the experimental class held favorable attitude towards using AWE and their writing skills improved a lot by constant revision. However, the students in the control class, who only relied on teacher’ evaluation and feedback, did not improve their writing skills as greatly as students in experimental class because they seldom revised their essay and wrote the second draft. Given the efficiency of AWE feedback for L2 learners, it can be applied to the English writing teaching extensively. Though the online grading system has its advantages in improving students’ writing level, it also has limitations. So, the best choice should be a combination of human feedback and intelligent feedback. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Feedback

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A Blockchain Based automatic Access Scheme Design and Implement for Small Cell Base Station 21

A Blockchain Based Automatic Access Scheme Design and Implem...

引用

21st IEEE international conference on Communication Technology, ICCT 2021

作者： Liang, Jingchao Wu, Jun Tan, Bin Ren, Haoqi Zhang, Zhifeng School of Computer Science and Technology Tongji University Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai China Fudan University School of Computer Science Shanghai China Jinggangshan University Electronics and Information Engineering Ji'an China Tongji University Electronics and Information Engineering Shanghai China

ISBN: (纸本)9781665432061

5G technology is constrained by its higher frequency band and smaller coverage area, which leads to the need for operators to use technologies such as small cell base stations to increase the density of base station deployment to ensure signal coverage quality, which leads to more enormous construction costs. Therefore, it is urgent to find a safe and reliable solution that can use the existing public network to realize small cell base stations with automatic access. Based on this demand, we summarize various existing small cell base station automatic access technology solutions and their advantages and disadvantages while combing the characteristics of blockchain technology and its application solutions in similar scenarios. And then, we propose a new blockchain-based base station automatic access solution and implements the system in a practical scenario. In our solution, we innovatively introduce blockchain as an intermediate manager for small base stations and core networks, which solves traditional solutions requiring customized equipment while ensuring safety and reliability. It reduces costs and improves efficiency, but some problems are brought by the 'decentralization' of blockchain waiting to be solved. © 2021 IEEE.

关键词： Blockchain

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An Emperical ALAL YSIS of Level of Quality in Sustainalbe Smart Grids

An Emperical ALAL YSIS of Level of Quality in Sustainalbe Sm...

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international conference on Power Energy, Environment and Intelligent control (PEEIC)

作者： Garima Jain Soumya K Kunal Sharma Department of Computer Science and Engineering (CSBS) Noida Institute of Engineering & Technology Greater Noida Uttar Pradesh India Department of Computer Science Jain (Deemed to be University) Bangalore India Department of Mechanical Engineering Vivekananda Global University Jaipur India

The increasing importance of power quality (PQ) concerns is discussed in this study in light of distributed generation, smart grid technologies, and integration of renewable energy supplies, as well as rising consumer awareness. It highlights how important PQ is in light of the widespread use of smart grid technologies and the development of delicate electrical devices. In order to improve smart grid applications, the combination of 5G networks with the Internet of Things (IoT) being investigated. These networks provide advantages in high-speed data transmission, distant sensing, and smart sensor interfacing. This paper's main goal is to provide an extensive overview of power quality disturbance detection and categorization. The study explores artificial intelligence technologies and signal processing approaches, evaluating the benefits and drawbacks of each. The power input signal kinds (synthetic, real, and noisy), pre-processing tools, feature selection strategies, artificial intelligence algorithms, and operating modes (online vs offline) are all taken into consideration when critically analyzing automatic recognition systems. In addition, the study provides ideas for future developments and serves as a useful reference for scholars who are interested in PQ analysis. After reviewing more than 300 research articles, the study summarizes the most important studies in the subject and provides in-depth comparisons using tabular presentations.

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Smart Electric Vehicle (EVs) Charging Network Management Using Bidirectional GRU - AM Approaches

Smart Electric Vehicle (EVs) Charging Network Management Usi...

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international conference on Edge computing and Applications (ICECAA)

作者： Mohd. Asif Gandhi K. Priya Piyush Charan Ritu Sharma G. Nageswara Rao D. Suganthi Department of Mechanical Engineering Panvel Maharashtra India Department of Computer Science Marudhar Kesari Jain College for Women Vaniyambadi Tamil Nadu India Department of Electronics and Communication Engineering Manav Rachna University Faridabad Haryana India GGITS Jabalpur Madhya Pradesh India Electrical and Electronics Engineering Department Lakireddy Bali Reddy College of Engineering JNTUK Kakinada Mylavaram Andhra Pradesh India Department of Computer Science Saveetha College of Liberal Arts and Sciences SIMATS Thandalam Chennai Tamilnadu India

Electric Vehicles (EVs) are now essential since electrifying transportation has shown to be a game-changer in raising the sustainable and eco-friendly platform in global industry. Integrating Electric Vehicle Charging System (EVCS) as a new entity into the power distribution system is one of the most important and challenging concerns. The development of an EVCS network infrastructure is a key step toward the broad adoption of EVs. In order to make informed judgments about transmission, distribution, energy allocation, and charging station placement, the control center or central aggregator must have an accurate forecast of occupancy, consumption, and energy or charging demand. Data analytics and other methods have made it possible to regularly get information from the EVCS for the purposes of archiving and processing all of the data collected. This proposed approach to presents a solution to the aforementioned problems with energy demand forecasting for EVCS networks. Three steps make up the proposed method: preprocessing, feature selection, and model performance evaluation. Preprocessing data via normalization, feature selection by K-Means, and ultimately model evaluation via K-means. The proposed model has superior results to the LSTM, GRU, and BIGRU - AM models.

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Coordinated control of Adaptive Damping and Additional Torque for Transient Stability Improvement of Virtual Synchronous Generator 4

Coordinated Control of Adaptive Damping and Additional Torqu...

引用

4th IEEE international conference on computing, Power and Communication Technologies, GUCON 2021

作者： Tang, Jingguang Chen, Lei Qiao, Xuefeng School of Electrical Engineering and Automation Wuhan University Wuhan430072 China

ISBN: (纸本)9781728199511

The usage of the virtual synchronous generator (VSG) technology in renewable power sources brings the power angle stability problem similar to that of traditional SGs. In this paper, the influence of the damping coefficient and unbalanced torque on the transient stability of a multi-VSG system is analyzed, and an improved control strategy considering adaptive damping and additional torque is proposed. The theoretical model is constructed, and the frequency difference is used for the adjustment of the damping value and the torque magnitude, which contributes to bringing a favorable regulation response and realizes the stability improvement. Furthermore, a laboratory-class multi-VSG system model is built in MATLAB platform, and comparative simulations are implemented. The simulation results manifest that the proposed method can availably suppress the variation of the rotor angle of the VSGs, and the system frequency in the fault transient process is visibly stabilized. © 2021 IEEE.

关键词： Stability

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An Overview of Recent Advances in Energy Storage for Solar Power Systems

An Overview of Recent Advances in Energy Storage for Solar P...

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IEEE international conference on automatica (ICA-ACCA)

作者： Seada Hussen Frie Ayalew Mohit Bajaj Naveen Kumar Sharma Francisco Jurado Salah Kamel College of Electrical & Mechanical Engineering Addis Ababa Science and Technology University Addis Ababa Ethiopia Department of Electrical Engineering Graphic Era (Deemed to be University) Dehradun India Electrical Engineering Department I.K Gujral Punjab Technical University Jalandhar Punjab India Department of Electrical Engineering University of Jaén Jaén Spain Department of Electrical Engineering Faculty of Engineering Aswan University Aswan Egypt

ISBN: (纸本)9781665494090

Renewable energy sources and technologies have the potential to bring answers to energy-related challenges in developing nations such as Ethiopia. PV systems generate clean, dependable electricity without the need of fossil fuels and are employed in a broad range of applications. Clean electricity is one approach for increasing capacity, improving energy security, and addressing environmental problems. Since, energy storage is one of the components of standalone system to holds all energy and electrical energy storage is advantageous to balance between fluctuating generation and varying consumption. This paper analysis about standalone solar power system, advantage of DC, charge controller, various storage systems (stationary and nonstationary) its advantages, applicability and comparison between them. Finally, conclusion and recommendation drawn from used papers which indicate best and sensitive research area for future works.

关键词： Renewable energy sources Electric potential control systems Fossil fuels Environmental factors Power systems Security

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Extraction of image features based on the HOG method in the HSV color space

Extraction of image features based on the HOG method in the ...

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international conference on sciences and Techniques of automatic control and Computer engineering (STA)

作者： Fayçal Hamdaoui Sana Bougharriou Manel Gueddari Anis Sakly Electrical Department Laboratory of Control Electrical Systems and Environment (LAESE) National Engineering School of Monastir University of Monastir Monastir Tunisia Laboratory of EμE Faculty of Sciences of Monastir University of Monastir Monastir Tunisia Higher Institute of Computer Science and Mathematics University of Monastir Monastir Tunisia

ISBN: (纸本)9781665482622

In this paper, a fast, effective and robust features extraction system has been developed. To successfully design this hardware architecture, a conversion from RGB to HSV was applied. Likewise, hardware architecture of Histogram of Oriented Gradient (HOG) method was proposed. Vivado System Generator (VSG) tool was used to design architectures. To validate the performance of the proposed system, Benchmarks was applied. Moreover, execution time and resources utilization demonstrated a promising quality of such proposed system.

关键词： Histograms automatic frequency control Time-frequency analysis Image color analysis Computer architecture Feature extraction Hardware

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