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International Conference on engineering and Emerging Technologies (ICEET)

作者： Pirbhat Kumar Shafaat Ahmed Bazaz Muhammad Mubasher Saleem Department of Mechatronics Engineering National University of Sciences and Technology (NUST) Islamabad Pakistan Faculty of Engineering and Technology Superior University Lahore Pakistan National Centre of GIS and Space Applications (NCGSA) Islamabad Pakistan National Centre of Robotics and Automation (NCRA) Islamabad Pakistan

ISBN: (数字)9798350316926

ISBN: (纸本)9798350316933

The primary focus of this paper is to design a mode-localized MEMS accelerometer that incorporates weakly coupled resonators of 2-DoF. This accelerometer's proof-mass is designed to form an electrostatic coupling with the inner resonator of the 2-DoF weakly coupled resonators. The acceleration sensed by this device is measured by using the ratios between the amplitudes of vibrations in both resonators. A comprehensive analysis is performed which incorporates both simulations based on FEM (finite element method) and analytical calculations. This approach allows for a thorough understanding of the device's behavior and characteristics. The limitations and constraints of the widely available microfabrication technique, SOIMUMPS (silicon-on-insulator multi-user MEMS processes) are also considered while designing this accelerometer. Overall, this paper presents a comprehensive overview of the design process, performance analysis, and fabrication readiness of the 2-DoF mode-localization-based MEMS accelerometer. The sensitivity reported for this accelerometer is 6.94/g, considering the ratio of the vibrational amplitudes as the output metric. The findings demonstrate the potential of this design to meet the stringent requirements of various applications, particularly those requiring precise motion-sensing capabilities.

关键词： Accelerometers Micromechanical devices Vibrations Sensitivity 2-DOF Resonant frequency Silicon-on-insulator

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A Sequential Deep Learning Algorithm for Sampled Mixed-integer Optimisation Problems

arXiv

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arXiv 2023年

作者： Chamanbaz, Mohammadreza Bouffanais, Roland Rio Tinto Centre for Mine Automation Australian Centre for Field Robotics The University of Sydney Australia Department of Mechanical Engineering Faculty of Engineering University of Ottawa Canada

Mixed-integer optimisation problems can be computationally challenging. Here, we introduce and analyse two efficient algorithms with a specific sequential design that are aimed at dealing with sampled problems within this class. At each iteration step of both algorithms, we first test the feasibility of a given test solution for each and every constraint associated with the sampled optimisation at hand, while also identifying those constraints that are violated. Subsequently, an optimisation problem is constructed with a constraint set consisting of the current basis—namely, the smallest set of constraints that fully specifies the current test solution—as well as constraints related to a limited number of the identified violating samples. We show that both algorithms exhibit finite-time convergence towards the optimal solution. Copyright © 2023, The Authors. All rights reserved.

关键词： Learning algorithms

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Integrating occlusion awareness in urban motion prediction for enhanced autonomous vehicle navigation

Integrating occlusion awareness in urban motion prediction f...

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IEEE Symposium on Intelligent Vehicle

作者： Vinicius Trentin Juan Medina-Lee Antonio Artuñedo Jorge Villagra Centre for Automation and Robotics (CSIC-UPM) Arganda Del Rey Spain Computer Science and Engineering Department University of Puerto Rico Mayagüez USA

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Motion prediction is a key factor towards the full deployment of autonomous vehicles. It is fundamental in order to ensure safety while navigating through highly interactive and complex scenarios. Lack of visibility due to an obstructed view or sensor range poses a great safety issue for autonomous vehicles. The inclusion of occlusion in interaction-aware approaches is not very well explored in the literature. In this work, the MultIAMP framework, which produces multimodal probabilistic outputs from the integration of a Dynamic Bayesian Network and Markov chains, is extended to tackle occlusions. The framework is evaluated with a state-of-the-art motion planner in two realistic use cases.

关键词： Navigation Dynamics Probabilistic logic Safety Bayes methods Vehicle dynamics Autonomous vehicles

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Sosegformer: A Cross-Scale Feature Correlated Network For Small Medical Object Segmentation

Sosegformer: A Cross-Scale Feature Correlated Network For Sm...

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IEEE International Symposium on Biomedical Imaging

作者： Wei Dai Zixuan Wu Rui Liu Junxian Zhou Min Wang Tianyi Wu Jun Liu Centre for Robotics and Automation City University of Hong Kong Hong Kong China Department of Mechanical Engineering City University of Hong Kong Hong Kong China

ISBN: (数字)9798350313338

ISBN: (纸本)9798350313345

A mild syndrome with a small infected region is an ominous warning and is foremost in the early diagnosis of diseases. Recently, deep learning algorithms, such as convolutional neural networks (CNN), have been successfully applied to segment natural or medical objects, yielding promising results. However, the analysis of medical objects with small area occupation in images remains largely underexplored. This task poses a significant challenge due to information loss caused by convolution and pooling operations in CNN, particularly for small medical objects. To tackle these challenges, we propose a novel small-object segmentation with transformer (SoSegFormer) network for accurate small-object segmentation in medical images. Quantitative experimental results demonstrate the top-level performance of SoSegFormer, achieving the best mIoU, mDice, MAE, and F2 Score. Notably, it achieved 87.02%, 80.91%, and 65.17% in mDice for segmenting liver tumour, polyp, and sperm objects, which occupy less than 1% of the image areas in ATLAS, PolypGen, and SemSperm datasets.

关键词： Image segmentation Visualization Morphology Object segmentation Medical services Transformers Convolutional neural networks

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Optimal Placement of Voltage Regulator and Capacitor for Distribution System

Optimal Placement of Voltage Regulator and Capacitor for Dis...

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2021 International Conference on System, Computation, automation and Networking, ICSCAN 2021

作者： Rajalakshmi, M. Addisu, Molla Jeyakkannan, N. Renuka Devi, G. Karthik, C. Jyothi Engineering College Department of Mechatronics Thrissur India Woldia University Department of Electrical and Computer Engineering Ethiopia Manakula Vinayagar Institute of Technology Deprtment of Robotics and Automation Puduchery India

ISBN: (纸本)9781665439862

The radial distribution system (RDS) is the ultimate link between the high-voltage transmission system (HVT) and the user in most electrical systems in Ethiopia. The Distribution System (DS) is divided into different areas for proper operation and supply of electricity demand. The study in this paper applies specifically to the Gondar feeder, which consists of 60 nodes with 3,413 MW of total capacity, in power distribution lines. For the modulation of voltages and DS node power loss indices, the fuzzy membership functions are used. A fluid expert system (FES) with a collection of heuristic legislation will determine the voltage regulator and the capacitor suitability index. The proposed method discusses and compares the effectiveness and results obtained from the voltage control system and the optimal placement of capacitors. © 2021 IEEE.

关键词： Voltage regulators

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Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection

Point, Segment, and Inspect: Leveraging Promptable Segmentat...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Riccardo Franceschini Javier Rodriguez Marquez Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola del Vallès Barcelona Spain Department of Electrical Engineering Automation and Control Group Danish Technical University Lyngby Denmark

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Operating unmanned aerial vehicles (UAVs) for assets inspections poses distinct challenges encompassing the need to maintain a safe distance from the inspection area, ensure correct orientation towards the inspected surface, and achieve comprehensive coverage of the entire surface. Achieving these tasks is inherently complex and stressful. Therefore, a novel approach that seeks to enhance the piloting experience by harnessing the latest advancements in segmentation models, such as Segment Anything Model (SAM), is proposed. These models, thanks to their prompting capabilities, allow seamless communication between the operator and the UAV, opening up the possibility of defining intricate inspection regions through simple interactions. Within this approach, decision-making authority remains with the operator, while the UAV takes on the demanding task of segmenting the designated area and devising an appropriate traversal plan. Throughout this process, the operator’s situational awareness is heightened through visual cues overlaid on the camera stream and a 3D panel presenting information of the drone position and spatially sensed data. This teleoperation framework allows the operator to maintain continuous control of the ongoing operation through a simplified interface. The paper delineates both the system and the methodology employed, showcasing the effectiveness of integrating segmentation models into the decision-making workflow. The validity of the proposed framework is established through testing within a photorealistic UAV simulator along with real experiments in a controlled laboratory environment.

关键词： Visualization Three-dimensional displays Decision making Laboratories Inspection Traveling salesman problems Autonomous aerial vehicles Robot sensing systems Spatial databases Surface treatment

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Control Characteristics of Zero-Current-Switching Quasi-Resonant Boost Converter under Variation of Resonant Circuit and Load Parameters

Control Characteristics of Zero-Current-Switching Quasi-Reso...

引用

Advanced Technology (KhPIWeek), IEEE KhPI Week on

作者： Andrii V. Dymerets Roman D. Yershov Alexey N. Gorodny Serhii A. Stepenko Anatoliy S. Revko Department of Electronics Automation Robotics and Mechatronics National University “Chernihiv Polytechnic” Chernihiv Ukraine Department of Electrical Engineering Information and Measurement Technologies National University “Chernihiv Polytechnic” Chernihiv Ukraine

The investigation of resonant circuit parameters influence on the control characteristics behavior in a boost half-wave zero-current switching quasi-resonant converter is presented. The dependences of the control pulses duration and operating frequency as well as electric characteristics under variation of resonant circuit time constant and control pulses duty cycle are established by the numeric simulation and are represented as 3D-surfaces. The dependences of these characteristics under variation of load impedance and control pulses duty cycle are also obtained. The obtained results can be used in the process of developing and constructing a table-based, robust multi-loop or nonlinearity compensated control systems for quasi-resonant converters.

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Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control

arXiv

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arXiv 2023年

作者： Haninger, Kevin Samuel, Kangwagye Rozzi, Filippo Oh, Sehoon Roveda, Loris Department of Automation Fraunhofer IPK Berlin Germany Department of Robotics and Mechatronics Engineering DGIST Daegu42988 Korea Republic of Politecnico di Milano Department of Mechanical Engineering Milano Italy IDSIA-SUPSI Lugano Switzerland

Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extracted from CAD, limiting scalability and the ability to handle tasks with varying geometry. To reduce the need for a priori models, we propose a framework for estimating contact models online based on torque and position measurements. To do this, compliant contact models are used, connected in parallel to model multi-point contact and constraints such as a hinge. They are parameterized to be differentiable with respect to all of their parameters (rest position, stiffness, contact location), allowing the coupled robot/environment dynamics to be linearized or efficiently used in gradient-based optimization. These models are then applied for: offline gradient-based parameter fitting, online estimation via an extended Kalman filter, and online gradient-based MPC. The proposed approach is validated on two robots, showing the efficacy of sensorless contact estimation and the effects of online estimation on MPC performance. © 2023, CC BY.

关键词： Model predictive control

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Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

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Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key Laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone Robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse *** are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to *** the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing *** review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment *** recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control Self-propulsion Actuation at small scales

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An Improved Method for Identifying SSVEP Single-Channel Target Frequency for BCI Systems

An Improved Method for Identifying SSVEP Single-Channel Targ...

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Emerging Trends in Electrical, Control, and Telecommunication engineering (ETECTE), International Conference on

作者： Adeel Wahab Umar Shahbaz Khan Tahir Nawaz Hassan Akbar Syed Tayyab Hussain Shah Zulfiqar Hasan Khan Department of Mechatronics Engg National University of Sciences and Technology Islamabad Pakistan National Centre of Robotics and Automation National University of Sciences and Technology Islamabad Pakistan Department of Basic Sciences and Humanities National University of Sciences and Technology Islamabad Pakistan Faculty of Electrical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi Pakistan

ISBN: (数字)9798331504861

ISBN: (纸本)9798331504878

Steady-state visual evoked potential (SSVEP) is a brain response to flickering visual stimuli in the occipital area. SSVEP detection methods usually utilize multichannel configurations, which can be intricate and uncomfortable. Conversely, single-channel configurations are simple and user-friendly, but attaining the necessary accuracy is difficult, requiring the development of a reliable and accurate single-channel technique. For this purpose, this study introduces a hybrid VMD-LGBM approach to single-channel SSVEP detection. The proposed technique utilizes VMD as a preprocessor that decomposes the SSVEP signal into harmonic, intrinsic mode functions (IMFs), and noisy IMFs. To separate harmonic IMFs from noisy IMFs, the crest factor of the cross-correlation function was introduced. Then the restored SSVEP signal is used to extract features using power spectral density analysis (Welch's approach), followed by classification using a Light Gradient Boosting Machine. Our proposed approach performs better than available techniques in terms of classification accuracy and information transfer rate. The proposed single-channel approach provides better efficiency and user-friendliness for practical applications.

关键词： Visualization Accuracy Noise Harmonic analysis Feature extraction Reliability engineering Market research Communications technology Steady-state Noise measurement

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