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6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Arsalan, Muhammad Imran, Abid Shah, Syed Salman Malaika, Sahar Iqbal, Zar Afshan GIK Institute Faculty of Mechanical Engineering Pakistan GIKI Institute Faculty of Mechanical Engineering Pakistan UET Department of Computer system Engineering Peshawar Pakistan UET Department of Electrical Engineering Peshawar Pakistan

ISBN: (纸本)9798350355703

This paper introduces a deep learning (DL)-based vision system for real-time object detection, grasping, and sorting using a UR5e robotic manipulator, aimed to address the challenges faced in industrial automation while grasping and sorting randomly placed objects in the workspace. The system utilizes a fine-tuned detection model, YOLOv8s, trained on a custom dataset of three distinct objects for testing a real-time grasping and sorting system using DL. Once the objects are detected in the workspace, image processing techniques are applied to each detected object to extract the accurate grasping information like the centroid and the orientation. This information is then converted to the robotic arm-based coordinate system to ensure the accurate manipulation of the objects in the workspace. The system is tested in the cluttered environment of the tabletop workspace to grasp and sort the objects, significantly enhancing both speed and accuracy in real-time industrial tasks. Experimental results show grasping accuracy of 93.33%, demonstrating the system's potential to improve automation efficiency in Industry 4.0 applications. © 2024 IEEE.

关键词： Deep learning

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Pulsed ToF LiDAR-Based Depth Imaging: SPAD Circuit Considerations and Simulation Study 66

Pulsed ToF LiDAR-Based Depth Imaging: SPAD Circuit Considera...

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2023 IEEE 66th International Midwest Symposium on Circuits and systems, MWSCAS 2023

作者： Noyan, Utku Lu, Sheung Al-Shabili, Abdullah Dandin, Marc Chan, Stanley H. Abshire, Pamela University of Maryland Department of Electrical and Computer Engineering Institute of System Research College ParkMD United States Purdue University Department of Electrical and Computer Engineering West LafayetteIN United States Carnegie Mellon University Department of Electrical and Computer Engineering PittsburghPA United States

ISBN: (纸本)9798350302103

Pulsed Time-of-Flight (ToF) LiDAR is a crucial technology for acquiring depth information in various applications, including autonomous vehicles, robotics, and 3D mapping. Single-Photon Avalanche Diodes (SPADs) are widely employed as detectors in these systems due to their fast response and high sensitivity. This paper investigates pulsed ToF LiDAR-based depth imaging to clarify the hardware design considerations that affect depth estimation accuracy. We present a simulation study that investigates the performance of SPAD-based LiDAR systems under various conditions, offering insights into the design of SPAD circuits for improved depth imaging performance. We find that, as expected, accuracy and depth resolution depend strongly on the fill factor, with accuracy decreasing as the fill factor drops, gradually at first and then more steeply for fill characteristics of less than 50%. Lastly, we discuss the outcomes of our simulations and suggest directions for future research in this area. © 2023 IEEE.

关键词： Autonomous vehicles Circuit considerations Depth imaging Pulsed Time-of-Flight (ToF) LiDAR Single-Photon Avalanche Diodes (SPADs)

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A Review on Cybersecurity Analysis,Attack Detection,and Attack Defense Methods in Cyber-physical Power systems

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Journal of Modern Power systems and Clean Energy 2023年第3期11卷 727-743页

作者： Dajun Du Minggao Zhu Xue Li Minrui Fei Siqi Bu Lei Wu Kang Li Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics Engineering and AutomationShanghai UniversityShanghaiChina Department of Electrical Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Computer Engineering Stevens Institute of TechnologyHobokenNJ 07030USA School of Electronic and Electrical Engineering University of LeedsLeeds LS29JTUK IEEE

Potential malicious cyber-attacks to power systems which are connected to a wide range of stakeholders from the top to tail will impose significant societal risks and *** timely detection and defense are of crucial importance for safe and reliable operation of cyber-physical power systems(CPPSs).This paper presents a comprehensive review of some of the latest attack detection and defense ***,the vulnerabilities brought by some new information and communication technologies(ICTs)are analyzed,and their impacts on the security of CPPSs are *** malicious cyber-attacks on cyber and physical layers are then analyzed within CPPSs framework,and their features and negative impacts are ***,two current mainstream attack detection methods including state estimation based and machine learning based methods are analyzed,and their benefits and drawbacks are ***,two current mainstream attack defense methods including active defense and passive defense methods are comprehensively ***,the trends and challenges in attack detection and defense strategies in CPPSs are provided.

关键词： Cyber-physical power systems security threat attack detection attack defense state estimation machine learning

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In-Cache Processing with Power-of-Two Quantization for Fast CNN Inference on CPUs

In-Cache Processing with Power-of-Two Quantization for Fast ...

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2023 International Technical Conference on Circuits/systems, computers, and Communications, ITC-CSCC 2023

作者： Woo, Joseph Lee, Seungtae Kim, Seongwook Byeon, Gwangeun Hong, Seokin Sungkyunkwan University Department of Electrical and Computer Engineering Korea Republic of Sungkyunkwan University Department of Ai System Engineering Korea Republic of

ISBN: (纸本)9798350326413

Convolutional Neural Networks (CNN) demand high computational capabilities, motivating researchers to leverage Processing-In-Memory (PIM) technology to achieve significant performance improvements. However, implementing complex arithmetic operations such as multiplication within memory is a significant challenge in the PIM architecture. To address this challenge, this paper proposes a PIM-enabled cache (PEC) architecture that utilizes shifters for performing multiplication operations at a low cost. We also introduce a filter-wise hardware-friendly Power-of-Two (POT) quantization scheme that quantizes weights into power-of-two values for specific filters to accelerate convolution operations with the PEC. Our experimental results demonstrate that the proposed PEC, together with the POT quantization, achieves 2.28x performance improvement on average with an accuracy degradation of 0.784%. © 2023 IEEE.

关键词： Memory architecture

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An authenticated spectrum acquirement and transmission of encrypted images over fusion centre

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Multimedia Tools and Applications 2024年 1-24页

作者： V, Thanikaiselvan Y, PiyaDessi S, Renuga devi Shanthini, S. Suba Mahalingam, Hemalatha S, Aashiq Banu R, Dhivya V.M, Padmapriya Amirtharajan, Rengarajan School of Electronics Engineering Vellore Institute of Technology Vellore Vellore India School of Information Technology Vellore Institute of Technology Vellore India Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah22254 Saudi Arabia System Engineering Department Military Technological College Muscat Oman Department of Electronics and Communication Engineering Mepco Schlenk Engineering College Tamilnadu Sivakasi626005 India Department of Computer Sciences Marquette University MilwaukeeWI53233 United States School of Electrical & amp Electronics Engineering SASTRA Deemed University 613 401 Thanjavur India

These days, spectrum insufficiency is the most common issue. If the number of smartphone users who access the radio spectrum grows, the radio spectrum becomes increasingly scarce. Certain types of technology equipment are designed to work only within a specific spectrum range, and there is rivalry in specifications for various other applications. As a result, this paper effectively exploits a licensed user’s unused spectrum to reduce the crowded spectrum and eradicate the Radio spectrum shortage. Licensed primary users (PUs) and secondary users (SUs) would be accepted into a Fusion Centre (FC) based on a spectrum framework with authentication. The approved PUs begin by updating their information to FC1;thenceforth, encryption is performed on the information uploaded to FC1. This information from FC1 is stored in Cloud Storage after encryption using the Blowfish algorithm & De-oxy DNA, a fast encryption algorithm. Following that, FC2, connected to the same cloud environment, downloads the PU data uploaded. The spectrum is then allocated to the authenticated SU linked to FC2 based on signal conditions and priority. This proposed method also avoids any delay in the network and encryption by acquiring a fast encryption algorithm, making the system faster and avoiding the Primary User Emulation (PUE) attack. Later, the time taken for the Tiny Encryption Algorithm (TEA) and the Blowfish/DNA algorithm are compared to validate the run time for different input images. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Authentication

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Advancing Mars Exploration: Development of a Large-Scale Gravity Compensation system for Landers during Descent

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IEEE Transactions on Aerospace and Electronic systems 2025年第3期61卷 6697-6710页

作者： Sun, Haining Tang, Xiaoqiang Ge, Shuzhi Sam Agency for Science Technology and Research Singapore Institute of Manufacturing Technology 138634 Singapore Tsinghua University State Key Laboratory of Tribology Department of Mechanical Engineering Beijing100084 China National University of Singapore Department of Electrical and Computer Engineering 117583 Singapore

As space exploration advances, an increasing number of planets are becoming targets for landing missions. Before officially launching a lander, it is essential to conduct landing tests on Earth to verify the functionality of the lander. One key challenge is to simulate the target planet's gravity environment during the lander's descent. In this study, a large-scale gravity compensation system is developed to physically simulate the Martian gravity for the landing tests of a Mars lander. The system integrates a constant force mechanism and electronic control systems, working closely to ensure smooth transitions between working states during the landing tests. Based on the principle of minimum potential energy, an expression for the output force of the constant force mechanism is established, and the influence of factors such as mechanical parameters on the output force is analyzed. Experimental results show that the system can provide gravity compensation for a 720-kg Mars lander. It maintains a nearly constant output force even when the lander touches the ground and during the subsequent period, demonstrating its adaptability to transient collisions and sudden state changes. © 1965-2011 IEEE.

关键词： Space research

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Model-Based Optimization of Vaccination Strategies in Different Phases of Pandemic Virus Spread 18th

Model-Based Optimization of Vaccination Strategies in Diff...

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18th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2021

作者： Liu, Zonglin Omayrat, Muhammed Stursberg, Olaf Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9783031264733

This paper aims at applying optimal control principles to investigate optimal vaccination strategies in different phases of a pandemic. Background of the study is that many countries have started their vaccination procedures against the COVID-19 disease in the beginning of 2021, but supply shortages for the vaccines prevented that everyone could be vaccinated immediately. At the beginning of 2022, in contrast, the vaccine supply was ample, but the effectiveness of different existing vaccines to avoid infection by new virus variants was in doubt, as well as the acceptance of booster doses decreased over time. To account for these effects, two formulations of optimization tasks based on different epidemic models are proposed in this paper. The solution of these tasks determines optimal distribution strategies for available vaccines, and optimized vaccination schemes to reduce the need of booster doses for later phase. Effectiveness of these strategies compared with other popular strategies (as applied in practice) is demonstrated through a series of simulations © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Vaccines

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Autonomous Unmanned Aerial Vehicle Indoor Navigation Based on Deep Learning Approaches 11

Autonomous Unmanned Aerial Vehicle Indoor Navigation Based o...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Ghasemi, Hamed Balazadeh, Elnaz Malekpour, Shayan Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran University of Tehran Human and Robot Interaction Laboratory Tehran Iran University of Tehran School of Electrical and Computer Engineering Department of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

This article presents two approaches based on deep learning for achieving autonomous navigation and subsequently, conducts an in-depth comparative analysis to elaborate their respective performance. Both methods leverage neural networks to facilitate navigation. The first approach employs a deep convolutional neural network to identify suitable areas for forward movement, while the second method utilizes the drone's front camera to capture images, which are then processed by a generative network to generate corresponding depth images. Importantly, both approaches rely solely on an RGB camera, resulting in cost savings for the robot and reduced energy consumption. The training data used for classifying collision-free and appropriate paths were gathered from simulated environments closely resembling real indoor settings. The proposed model calculates the probability associated with each segment of the input image, enabling the selection of the most viable area for drone flight. Incorporating generative networks as a depth estimation module enhances flight accuracy, making navigation in uncharted environments more straightforward. The accuracy of depth estimation was evaluated using standard criteria, achieving an accuracy rate of 84%. This result underscores the effectiveness of the proposed method. © 2023 IEEE.

关键词： Drones

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One-Step Plasma Jet Deposition and Self-Sintering of Gold Nanoparticle Inks on Low-Temperature Substrates

IEEE Journal on Flexible Electronics

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IEEE Journal on Flexible Electronics 2024年第5期3卷 197-204页

作者： Manzi, Jacob Varghese, Tony Eixenberger, Josh Prakasan, Lakshmi Estrada, David Subbaraman, Harish Oregon State University School of Electrical Engineering and Computer Science CorvallisOR97331 United States Boise State University Department of Electrical and Computer Engineering Micron School of Material Science and Engineering BoiseID83725 United States Boise State University Micron School of Material Science and Engineering Center for Advanced Energy Studies BoiseID83725 United States Idaho National Laboratory Idaho FallsID83415 United States INFlex Labs LLC BoiseID83706 United States

Flexible electronics on low-temperature substrates like paper are very appealing for their use in disposable and biocompatible electronic applications and areas like healthcare, wearables, and consumer electronics. Plasma-jet printing (PJP) uses a dielectric barrier discharge plasma to focus aerosolized nanoparticles onto a target substrate. The same plasma can be used to change the properties of the printed material and even sinter in situ. In this work, we demonstrate the one-step deposition of gold structures onto flexible and low-temperature substrates without the need for thermal or photonic postprocessing. We also explore the plasma effect on the deposition of the gold nanoparticle ink. The plasma voltage is optimized for the sintering of the gold nanoparticles, and a simple procedure for manufacturing traces with increased adhesion and conductivity is presented, with a peak conductivity of 6.2\times 10{5} S/m. PJP-printed gold LED interconnects and microheaters on flexible substrates are developed to demonstrate the potential of this single-step sintered deposition of conductive traces on low-temperature substrates. © 2022 IEEE.

关键词： Sintering

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RIS-Aided Uplink NOMA in the Presence of CCI 32

RIS-Aided Uplink NOMA in the Presence of CCI

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32nd Telecommunications Forum, TELFOR 2024

作者： Ozduran, Volkan Soleimani-Nasab, Ehsan Istanbul University-Cerrahpaşa Istanbul Turkey Graduate University of Advanced Technology Department of Electrical and Computer Engineering Kerman Iran

ISBN: (纸本)9798350391053

This paper investigates the co-channel interference (CCI) effects on the uplink non-orthogonal multiple access (NOMA) users. The investigation considers that two NOMA users communicate with the base station (BS). The NOMA user close to the BS has a line of sight with the BS, while the far user only communicates with the BS via passive and absorptive reconfigurable intelligent surface (RIS). The investigation also considers that BS is under the effect of the randomly deployed CCI and interfere the received signal from the NOMA users. Performance of the aforementioned system is measured by means of the outage probability performance metric. Analytical derivations are verified by means of the Monte Carlo-based computer simulations. The results indicate that increasing the number of RIS elements degrades the outage performance for the near user but enhances it for the far user. Furthermore, the findings reveal that CCI causes minor loss in coding gain for NOMA users when the RIS has a small number of elements. However, this negative impact of CCI diminishes as the number of RIS elements increases. © 2024 IEEE.

关键词： Cochannel interference

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