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7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023

作者： Wu, Wei Liu, Chang Cao, Wenhan Chen, Chao Li, Hongbo Li, Shengbo Eben The School of Vehicle and Mobility Tsinghua University Beijing100084 China The Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China The Robot R&D Department Geekplus Corp. Beijing100107 China

ISBN: (纸本)9798350340488

Multi-sensor calibration is crucial for mobile robots, especially in logistics and warehouse environments. While calibration techniques exist for individual sensors, industry-level calibration of the multiple sensors on mobile robots covering the entire operational life cycle is rarely explored. To bridge the gap, we present a fast, accurate, and scalable calibration system supporting both manufacturing and operation phases for mobile robots with diverse sensors like odometers, IMUs, LidArs, and cameras. Specifically, we propose an online yaw angle estimation approach for IMU by fusing odometer data as compensation. Additionally, we pioneer an approach to calibrate 2d LidAr using surrounding objects' reflectance strength as the calibration metric in the manufacturing phase calibration, and the iterative closest point method for refinements during operation phase calibration. Furthermore, we develop a least squares formulation to calibrate cameras' intrinsic and extrinsic parameters, achieving rapid convergence. The system has been used by Geekplus across factories worldwide including Asia, Europe, America, and Oceania, successfully calibrating and deploying over 30,000 mobile robots. © 2023 IEEE.

关键词： Logistics Mobile robots Multi-sensor Calibration Warehouse Applications

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Stability Analysis of diffusive Predator-Prey Model Involving Intra-specific Coefficients with the Concept of difference Equation 2nd

Stability Analysis of Diffusive Predator-Prey Model Involvi...

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2nd International Conference on Nonlinear dynamics and Applications, ICNdA 2024

作者： Murugesan, regan Kumaravel, Sathish Kumar rasappan, Suresh Mohan, Kala raja Nagaram, Nagadevi Bala Department of Mathematics Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology Avadi Tamilnadu Chennai600062 India Mathematics Section University of Technology and Applied Sciences - Ibri 466 Ibri516 Oman

ISBN: (纸本)9783031691331

The discussion delves into a prey-predator model encompassing three species, incorporating intra-specific coefficients alongside interval biological parameters, utilizing the concept of a difference equation. Analysis of equilibrium points and stability conditions was conducted employing Lyapunov theory. The application of the backstepping feedback method aimed to achieve global asymptotical stabilization and explore qualitative properties. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Predator prey systems

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Adaptive Observer Based Output Voltage-Tracking Control of dC-dC Boost Converters 21

Adaptive Observer Based Output Voltage-Tracking Control of D...

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21st International Bhurban Conference on applied Sciences and Technology, IBCAST 2024

作者： Zad, Haris Sheh Ulasyar, Abasin Zohaib, Adil Pak-Austria Fachhochschule: Institute of Applied Sciences & Technology Department of Mechanical & Manufacturing Engineering Haripur Pakistan Beko Corporate Drive Team Washing Machine-R&D Center Istanbul Turkey Riphah International University Department of Electrical & Computer Engineering Islamabad Pakistan

ISBN: (纸本)9798331516680

In this paper, the voltage regulation of dC-dC boost converters is investigated in the existence of unmodeled system dynamics and load perturbations. An adaptive observer based sliding mode controller (SMC) is proposed based on the radial basis function (rBF) neural networks for estimating the uncertain system function. The parameters of the rBF are updated online based on the adaptive law. The adaptive control law is developed based on the Lyapunov synthesis for the rBF model. The Lyapunov theory is utilized for proving the stability of the overall system. The chattering phenomenon is eliminated, and the robust action of the controller is ensured. For checking the effectiveness of the designed robust and adaptive controller, comparative simulations are carried out. Simulation results show better dynamic regulation of the boost converter compared to the conventional control in the presence of uncertainties and unmodeled dynamics. © 2024 IEEE.

关键词： radial basis function networks

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Stability Analysis of Vaccinated and Non-vaccinated Population of Covid’19 – A Study by Mathematical Modeling 2nd

Stability Analysis of Vaccinated and Non-vaccinated Popula...

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2nd International Conference on Nonlinear dynamics and Applications, ICNdA 2024

作者： Kumaravel, Sathish Kumar Nagaram, Nagadevi Bala Murugesan, regan Mohan, Kala raja rasappan, Suresh Department of Mathematics Vel Tech Rangarajan Dr Sagunthala R&D Institute of Science and Technology Avadi Tamilnadu Chennai600062 India Department of Mathematics Panimalar Engineering College Poonamallee Tamilnadu Chennai600123 India Mathematics Department University of Technology and Applied Sciences Ibri Ibri Oman

ISBN: (纸本)9783031691454

This work aims to study the mathematical model of the coronavirus disease, which affects human beings. A deterministic mathematical model for coronavirus disease among the population, including the vaccinated population, was developed and analyzed. Using the survey, statistical data of the vaccinated population were analyzed to reduce the COVId-19 affected count and loss of death using a mathematical model. A stability analysis was conducted to investigate the model described for the population, and the equilibrium points and interior equilibrium points of the system were derived. Positiveness and boundedness were also analyzed. The global stability analysis is expressed for the proposed model By constructing the Lyapunov function and also by the feedback controller mechanism. The results of this study were tested using simulations carried out in MATLAB. The applicability of the result was illustrated using numerical examples. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Lyapunov functions

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distribution of trace elements and rare earth elements in coal from the Bhalukasba Surni coal block,rajmahal coalfield,Eastern India

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International Journal of Coal Science & Technology 2024年第6期11卷 86-100页

作者： Saswati Chakladar Sneha Kumari Alok Kumar Ashok Mohanty Sanchita Chakravarty Allan Kolker Analytical and Applied Chemistry Division CSIR-National Metallurgical LaboratoryJamshedpurJharkhand 831007India Department of Geology Faculty of ScienceUniversity of MalayaKuala Lumpur 50603Malaysia U.S.Geological Survey Geology Energy&Minerals Science Center954 National CenterRestonVA 20192USA Coal and Coke Making Research Group R&DTata Steel LimitedJamshedpurJharkhand 831003India Department of Geology Banaras Hindu UniversityVaranasiIndia

Exploration of secondary resources for isolation of valuable constituents,such as rare earth elements(rEEs)and trace elements(TEs),is of importance owing to the need to identify new domestic sources and reduce reliance on *** present study systematically discusses the distribution of rEEs and TEs in core samples from the coal block of Bhalukasba Surni{(B1(125 m)-B9(409 m)}located in rajmahal coalfield,Jharkhand,India,which has not been investigated previously for its *** studied coal samples were found to be enriched in TEs whose abundances were in the order of Mn>Mo>Zr>Ni>Cr>V>Cu>Zn>Pb,and rEEs(La,Ce,Pr,Nd,Sm,Eu,Gd,dy,Er,Tm,Yb,Lu)along with Sc and *** average concentration of rEEs with yttrium(ΣrEY)on an ash basis was 528 ppm,which is significantly higher than the world average for coal ash(435 ppm).Of the samples investigated,B3(182-184 m)and B8(396-399 m)demonstrated relatively higher concentrations of potentially economic elements,with B3 containing a higher proportion of middle to heavy rEEs Gd,dy,Ho and Er,and B8 showing relative enrichment in Nd and *** dry whole coal basis,B6(275-278 m)showed a considerably higher concentration of Ge(55 ppm)than other samples,whereas the concentration of Zr varied in the range of 90-160 ppm in the whole coal block.X-ray diffraction studies revealed the presence of quartz,keatite,hematite,zircon,anatase and orthoclase in the coal ash samples prepared at 815℃.rEEs exhibited prominent positive correlation with Al_(2)O_(3)(0.4<r>0.9)which is supportive of their residence in primary clay minerals such as kaolinite and ***,a positive correlation of rEEs with P_(2)O_(5)(0.4<r>0.9)suggests their association with phosphate minerals(such as monazite,xenotime,apatite).Positive correlation with TiO_(2)(r>0.7)corroborates the possible association of rEEs with *** morphology of the coal ash samples viewed in SEM showed the presence of Al_(2)O_(3)and SiO_(2)enriched irregular-sponge

关键词： Coal rajmahal basin rare earth elements distribution Trace elements Correlation

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V-Band GaN Power Amplifier MMICs with High Power-Bandwidth and Low Gain Compression for rF Inter-Satellite Links

V-Band GaN Power Amplifier MMICs with High Power-Bandwidth a...

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Microwave, MTT-S International Symposium

作者： Christian Friesicke Friedbert Van raay Sebastian Krause Bharath Cimbili Peter Bruckner rüdiger Quay Alberto Colzani Antonio Traversa Alessandro Fonte Fraunhofer Institute for Applied Solid State Physics IAF Germany R&D Department SIAE Microelettronica Italy

ISBN: (数字)9798350375046

ISBN: (纸本)9798350375053

This paper presents two V-band power amplifiers that are designed and fabricated using Fraunhofer IAF's 0.15-µm gate-length GaN/SiC HEMT technology. Both amplifiers, a unit PA and a balanced PA comprising two of the unit PAs, are four-stage designs that target the upper V-band for wideband inter-satellite links with high output power at low gain compression. When mounted on a test-jig, biased at a de- rated drain voltage and characterized with a CW stimulus, the unit amplifier and balanced amplifier exhibit a linear gain of, respectively, 19.6-21.8 dB and 18.6-21.0 dB, in the band between 57–70 GHz. In the same band, the amplifiers deliver a saturated output power of 31.9-33.4 dBm (1.5-2.2 W) at a PAE of 9.4-14.0% (unit PA) and 33.5-34.9dBm (2.2-3.1 W) at a PAE of 8.6-11.0% (balanced PA). Both amplifiers exhibit good amplitude linearity, with <0.3 dB difference between OP 2dB and $P$ sat across the band for the balanced amplifier. To the authors' best knowledge, these results represent the best power-bandwidth performance of published PAs in the V-band.

关键词： radio frequency Power system measurements Power amplifiers Voltage HEMTs Microwave communication Gallium nitride

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Genetic Algorithm-Based Fundamental Frequency Optimization of Laminated Composite Shells Carrying distributed Mass

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Journal of The Institution of Engineers (India): Series C 2022年第3期103卷 389-401页

作者： Pal, Subham Kalita, Kanak Haldar, Salil Department of Aerospace Engineering and Applied Mechanics Indian Institute of Engineering Science and Technology Shibpur711 103 India Department of Mechanical Engineering Vel Tech Rangarajan Dr Sagunthala R&D Institute of Science and Technology Avadi600 062 India

Composite plates and shells are an inevitable part of the modern structural, aerospace and marine industry. Load-carrying plates and shells must be optimized from a frequency viewpoint to avoid resonance. In the present study, a global optimization framework is developed by combining the iterative improvement ability of genetic algorithm (GA) with the brute accuracy of finite element (FE) method to optimize the fundamental frequency of composite shells. Since composites are weak in shear, the shear deformation effect is considered by using the first-order shear deformation theory in the finite element formulation. The ply angles are considered as the design variables. However, only discrete ply angles with 5° increments in the ± 90° search space are considered. Various numerical studies are carried out to check the validity and accuracy of the present FE-GA approach. A wide range of results for rectangular and cylindrical shell panels with different radius of curvatures, boundary conditions and carrying distributed mass at different positions are presented. © 2022, The Institution of Engineers (India).

关键词： Genetic algorithms

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Wireless Simulator: Empowering remote Operations By demystifying Modulation Techniques 4

Wireless Simulator: Empowering Remote Operations By Demystif...

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4th International Conference on Power, Energy, Control and Transmission Systems, ICPECTS 2024

作者： Shahila, d. Ferlin deva Livin, Joel Jeyanthy, P. Aruna Stephen, Valantina Sai, Yarragolla Venkata Vel Tech Rangarajan Dr. Sagunthala R&d Institute of Science and Technology Department of Ece Chennai India University of Technology and Applied Sciences Oman Kalasalingam Academy of Research and Education Department of Eee Tamil Nadu Srivilliputhur India Saveetha School of Engineering Department of Eee Thandalam Chennai India

ISBN: (纸本)9798331508845

Light Emitting diodes (LEds), which are extremely efficient and long-lasting, have been created as a result of technological developments in solid-state lighting. Along with becoming increasingly popular for use in traditional lighting, these LEds are also being investigated for a cutting-edge use in Visible Light Communication (VLC). Utilising a VLC transmission system, VLC has the potential to be a practical access technique for vehicular networking. The GNU radio framework, which was used to build Universal Software radio Peripheral software-defined radios, serves as the system's foundation. With a photodiode serving as the receiver and a conventional automobile lamp acting as the sender. Applications for vehicle networking can greatly benefit from the many features that VLC offers. Our system also accommodates a number of modulation techniques, such as OOK (On-Off Keying), ASK (Amplitude Shift Keying), FSK (Frequency Shift Keying), and PSK (Phase Shift Keying). Modelling of the system's performance has shown outstanding distance dependability independent of the time of day in terms of Signal-to-Noise ratio (SNr) and Bit Error rate (BEr). © 2024 IEEE.

关键词： Signal to noise ratio

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A Novel Optimized deep Convolutional Neural Network for Efficient Seizure Stage Classification

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Computers, Materials & Continua 2024年第12期81卷 3903-3926页

作者： Umapathi Krishnamoorthy Shanmugam Jagan Mohammed Zakariah Abdulaziz S.Almazyad K.Gurunathan Department of Biomedical Engineering KIT-Kalaignarkarunanidhi Institute of TechnologyCoimbatore641402India Department of Computer Sciences and Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and TechnologyChennai600062India Department of Computer Sciences and Engineering College of Applied ScienceKing Saud UniversityRiyadh11543Saudi Arabia Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11543Saudi Arabia Department of Computer Science and Engineering Mount Zion College of Engineering and TechnologyPudukkottai622507India

Brain signal analysis from electroencephalogram(EEG)recordings is the gold standard for diagnosing various neural disorders especially epileptic *** signals are highly chaotic compared to normal brain signals and thus can be identified from EEG *** the current seizure detection and classification landscape,most models primarily focus on binary classification—distinguishing between seizure and non-seizure *** effective for basic detection,these models fail to address the nuanced stages of seizures and the intervals between *** identification of per-seizure or interictal stages and the timing between seizures is crucial for an effective seizure alert *** granularity is essential for improving patient-specific interventions and developing proactive seizure management *** study addresses this gap by proposing a novel AI-based approach for seizure stage classification using a deep Convolutional Neural Network(dCNN).The developed model goes beyond traditional binary classification by categorizing EEG recordings into three distinct classes,thus providing a more detailed analysis of seizure *** enhance the model’s performance,we have optimized the dCNN using two advanced techniques:the Stochastic Gradient Algorithm(SGA)and the evolutionary Genetic Algorithm(GA).These optimization strategies are designed to fine-tune the model’s accuracy and ***,k-fold cross-validation ensures the model’s reliability and generalizability across different data *** and validated on the Bonn EEG data sets,the proposed optimized dCNN model achieved a test accuracy of 93.2%,demonstrating its ability to accurately classify EEG *** summary,the key advancement of the present research lies in addressing the limitations of existing models by providing a more detailed seizure classification system,thus potentially enhancing the effectiveness of real-time seizure prediction and management systems in clinic

关键词： Bonn EEG dataset cross-validation genetic algorithm batch normalization seizure classification stochastic gradient

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reinforcement Learning Based Position Control of 1-dOF rotational Hydraulic Actuator

Reinforcement Learning Based Position Control of 1-DOF Rotat...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hokwon Kang Jin Tak Kim Sangsin Park Jungsan Cho Department of Robotics Engineering University of Science and Technology(UST) Daejeon Korea The Hydraulic Robot Laboratory Robot R&D Group Korea Institute of Industrial Technology(KITECH) Ansan South Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In this study, we propose a reinforcement learning (rL) based position control method for a one-degree-of-freedom (1-dOF) rotational hydraulic actuator. Controlling hydraulic actuators is challenging due to their nonlinear characteristics and complex structure. reinforcement learning offers the advantage of enabling control through learning without requiring a detailed understanding of the model, using virtual environments. However, simulators do not perfectly replicate real-world conditions. To address this, we aim to enhance the fidelity of the simulation and improve the performance of reinforcement learning-based controllers by integrating real-world data into the simulation using deep neural networks (dNN). The reinforcement learning is trained using the Proximal Policy Optimization (PPO) algorithm, and it is validated through experiments with step and sine inputs.

关键词： Legged locomotion refining Hydraulic actuators Position control Virtual environments reinforcement learning Artificial neural networks Hydraulic systems Control systems Optimization

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