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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

IEEE Transactions on Network and Service Management 2025年第3期22卷 2354-2369页

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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Energy Management Using Smart Inverter

Energy Management Using Smart Inverter

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2024 IEEE International Conference on Intelligent Systems and Advanced Applications, ICISAA 2024

作者： Kanase, Digvijay B Jadhav, Sachin P Patil, Dushyant P Prasad, Shashikant Kadam, Swaraj Patil, Digambar P. Dr. D. Y. Patil Institute of Technology Department of Electrical Engineering Maharashtra Pune411018 India Dr. D. Y. Patil Institute of Technology Department of Automation and Robotics Maharashtra Pune411018 India

ISBN: (纸本)9798331539948

In the digital age, nearly all activities require a consistent power supply to function. Homes may experience prolonged power outages due to major disruptions in the local or regional electrical grid, often caused by severe weather, car accidents, or fallen trees. Inverters are commonly used as backup power sources in homes and are frequently employed as secondary power sources in both residential and commercial settings. The primary function of a solar inverter is to convert the direct current (DC) electricity generated by photovoltaic cells into alternating current (AC) power. Smart inverters further enhance this by utilizing batteries to store excess energy. These inverters optimize power management and ensure efficient operation. Maximum Power Point Tracking (MPPT) technology is implemented to maximize energy extraction from solar panels, thereby improving overall system efficiency. The system also supports remote monitoring and management, allowing for optimized battery storage and improved performance. © 2024 IEEE.

关键词： Solar power generation

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Xception for Tomato Leaf Disease Detection: Hyperparameter Tuning and Fine-tuning Approaches

Xception for Tomato Leaf Disease Detection: Hyperparameter T...

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2024 International Conference on Artificial Intelligence and Quantum Computation-Based Sensor Applications, ICAIQSA 2024

作者： Maini, Yash Singh, Sanjay Kumar Saxena, Pranshu University School of Automation and Robotics Guru Gobind Singh Indraprastha University East Delhi Campus Surajmal Vihar Delhi110092 India School of Computer Science Engineering and Technology Bennett University Greater Noida India

ISBN: (纸本)9798331517953

Tomato cultivation is essential to world agriculture, affecting food security and economic stability. Tomasto leaf diseases must be detected accurately to maintain crop health and maximize yield. This work improves disease classification by using deep learning models, notably CNN, Xception, DenseNet, and a hyper-tuned Xception model. We used transfer learning and data augmentation to improve model performance on the Kaggle dataset, which contains 10,000 training images and 1,000 validation images from the Plant Village Repository organized into ten groups. The hyper-tuned Xception model achieved the maximum performance by meticulously tweaking hyperparameters such as learning rate, batch size, and network architecture, with an accuracy of 97.23%, precision of 95.73%, recall of 94.40%, and F1-score of 95.06%. These results show a considerable improvement over the CNN, Xception, and DenseNet models. The results highlight the efficiency of sophisticated deep learning algorithms and hyperparameter tweaking in achieving high classification accuracy, making the proposed model a robust tool for practical tomato leaf disease diagnostics. © 2024 IEEE.

关键词： Fruits

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Design and Analysis of an Adaptive Robotic Gripper 1

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International Conference on Production and Industrial Engineering, CPIE 2023

作者： Patil, Yashraj M. Jamadar, N.I. Patil, Lalit N. Bhosale, Digvijay G. Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India Department of Automation and Robotics Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India

ISBN: (数字)9789819974450

ISBN: (纸本)9789819974443

In this study, an inexpensive fundamental robotic end effector module was investigated in order to make it easier to conduct robotic grasping research. The three-finger under actuated robotic gripper was designed in three dimensions and produced using a servomotor actuator that is readily available off the market and a small number of 3D printed parts. Following a comprehensive explanation of an under actuated finger, gear train mechanisms, in addition to general gripper assembly design, an illustration and explanation of the grabbing of objects with varied geometries follow. For research and instructional reasons, robotic researchers can utilize the offered open-source gripper design as a base to create custom robotic end effectors. An innovative prototype and a thorough introduction as well as an explanation of the gripper design idea are given. Using a four-bar linkage mechanical system and a single off-the-shelf actuator, it is demonstrated that the proposed robotic gripper with a single actuator satisfies the proposed objectives for its simple mechanical structure, low cost, and relatively high payload compared to similarly sized tendon-driven robotic end effectors. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Mechanical actuators

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A Passive Synthetic Aperture Direction-of-Arrival Estimation Method Under the Autonomous Underwater Vehicle Yaw Motion

A Passive Synthetic Aperture Direction-of-Arrival Estimation...

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2024 OES China Ocean Acoustics, COA 2024

作者： Yueming, Ma Jie, Sun Tianze, Hu Hang, Dong Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shenyang University of Technology School of Artificial Intelligence Shenyang110870 China

ISBN: (纸本)9798350340297

When in motion, an autonomous underwater vehicle (AUV) will yaw under the influence of marine environment, and the direction-of-arrival (DOA) performance of the passive synthesis algorithm will be degraded. This study proposed a method for DOA estimation under the yaw motion. The method employed two-dimensional multiple signal classification algorithm to jointly estimate the yaw angle and azimuth. Subsequently, phase compensation was applied using the yaw angle to achieve accurate DOA estimation after aperture synthesis. Finally, various simulations were conducted to compare the performance of DOA estimation before and after considering the yaw angle. The results reveal that the proposed method can effectively improve the performance and resolution of DOA estimation. © 2024 IEEE.

关键词： Autonomous underwater vehicles

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An Intuitive Six-DOF Admittance Control Method for Human-Robot Collaboration

An Intuitive Six-DOF Admittance Control Method for Human-Rob...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Meng, Yuming Jiang, Xin Brelen, Marten Erik Liu, Yun-Hui School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China The Chinese University of Hong Kong Department of Ophthalmology and Visual Sciences Hong Kong Hong Kong T Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Admittance control is a well-established frame-work for enhancing human-robot collaboration. Although it is widely applied in translational tasks, the a six-degree-of-freedom (6-DOF) admittance control involving the use of a handle in both translational and rotational spaces is rarely addressed in the literature. This paper introduces 6-DOF admittance control method that utilizes a handle equipped with a force/torque sensor mounted on the robotic arm to intuitively farme the operation of the end effector. By transforming the force/torque applied to the handle into the operation of the end-effector while preserving the operator's intent, intuitive 6-DOF admittance control is achieved. To eliminate the operational risks associated with the uncertainty of the hand's contact point on the handle, uncertainty shielding is implemented, ensuring stable force/torque calculations. The effectiveness of the proposed 6-DOF admittance control method is validated through an assembly operation and a specific trajectory operation. © 2024 IEEE.

关键词： End effectors

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A ResNet-based approach for accurate radiographic diagnosis of knee osteoarthritis

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CAAI Transactions on Intelligence technology 2022年第3期7卷 512-521页

作者： Yu Wang Shibo Li Baoliang Zhao Jianwei Zhang Yuanyuan Yang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina TAMS Department of InformaticsUniversity of HamburgHamburgGermany

Currently X-ray images are clinically graded by experienced clinicians using the Kellgren and Lawrence(KL)scoring ***,individual scoring is subjective and error *** study proposes an approach for automated knee osteoarthritis classification based on deep neural *** knee X-ray images are first preprocessed with frequency-domain filtering and histogram normalisation,making the trabecular bone texture more obvious and benefiting the subsequent classification ***,a two-step classification strategy is proposed by extracting the joint centre based on the VGG network and classifying osteoarthritis grades based on the ResNet-50 *** addition,a rebalance operation is proposed to deal with the dataset unbalance problem,and a quick search technique is proposed to improve the iterative search efficiency for the joint *** all of these techniques,a classification accuracy of 81.41%is obtained,which is higher compared to the state-of-the-art approaches.

关键词： AMSGrad knee osteoarthritis recognition ResNet VGG

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Abdul Mohiz Fazal E Nasir Kamran Shah Department of Mechatronics Engineering University of Engineering & Technology Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used.

关键词： Meters Industries automation Force Crops Soil Software

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Instructing Hierarchical Tasks to Robots by Verbal Commands

Instructing Hierarchical Tasks to Robots by Verbal Commands

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IEEE/SICE International Symposium on System Integration

作者： Péter Telkes Alexandre Angleraud Roel Pieters Cognitive Robotics group Unit of Automation Technology and Mechanical Engineering Tampere University Tampere Finland

Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot programming techniques, and provide a more expressive means to assign actions and enable collaboration. However, the challenge of utilizing speech for robot programming is how actions and targets can be grounded to physical entities in the world. In addition, to be time-efficient, a balance needs to be found between fine- and course-grained commands and natural language phrases. In this work we provide a framework for instructing tasks to robots by verbal commands. The framework includes functionalities for single commands to actions and targets, as well as longer-term sequences of actions, thereby providing a hierarchical structure to the robot tasks. Experimental evaluation demonstrates the functionalities of the framework by human collaboration with a robot in different tasks, with different levels of complexity. The tools are provided open-source at https://***/voice-jogger/

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Extraction of Weld Seam Centerline Based on Improved Canny Algorithm

Extraction of Weld Seam Centerline Based on Improved Canny A...

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automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Yuxuan Yang Bing Wei Xiaoqing Cao Pengtao Zhu Yiran Guo Robotics Technology Engineering Division Beijing Research Institute of Automation for Machinery Industry Beijing China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

Based on the analysis of characteristics in weld seam images, this paper proposes an improved method for detecting the centerline position using an adapted Canny algorithm, addressing issues such as susceptibility to noise interference and poor connection of strong and weak edges. Initially, adaptive median filtering and enhanced bilateral filtering replace traditional Gaussian filtering in the Canny algorithm. Subsequently, histogram analysis and Otsu's method are employed to adaptively select thresholds for the Canny operator. Finally, the Canny algorithm is utilized for extracting weld seam edges. Experimental results demonstrate that compared to Gaussian filtering, employing adaptive median and bilateral filtering improves Peak Signal-to-Noise Ratio (PSNR) by 9.2145 dB and reduces Mean Squared Error (MSE) by 33.32819, indicating superior effectiveness in preserving image details and eliminating noise. Pratt's Figure of Merit (PFOM) and Structural Similarity Index (SSIM) values approaching 1 further underscore the algorithm's enhanced precision.

关键词： Histograms PSNR Filtering Image edge detection Welding Robot kinematics Noise Solids Data mining Soldering

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