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Symposium on Integrated Circuits and Systems Design (SBCCI)

作者： Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Systems Graduate Program Automation and Control Group/GRACO Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field Programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.

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Speed Profile Optimization for Autonomous Electric Bus in Urban Area: Based on Service Route Parameter in Thailand

Speed Profile Optimization for Autonomous Electric Bus in Ur...

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Conference on Power, Energy and Innovations (ICPEI)

作者： Guntinan Sakulphaisan Sirirat Son-In Nitikorn Junhuathon Theerapol Muankhaw Industrial technology and innovation management Faculty of science and technology Pathumwan institute of technology Bangkok Thailand Electrical Engineering and Automation Control Systems Faculty of engineering and industrial technology Bansomdejchaopraya Rajabhat University Bangkok Thailand Department of Electrical Engineering Faculty of Engineering Rajamangala University of Technology Thanyaburi Pathumthani Thailand

This study conducts a comprehensive analysis of optimizing the speed profile of an AE-bus, a critical step in enhancing its operational efficiency. It encompasses three distinct case studies, each targeting specific objectives. The first case emphasizes energy consumption reduction, contributing to overall resource efficiency. The second focuses on eco-conscious speed profiles within predefined travel durations, balancing environmental sustainability and timeliness. The third case prioritizes travel time minimization for streamlined efficiency. Detailed insights into speed adjustments, bus positions, and energy consumption patterns are provided for each case. The findings reveal tailored approaches for energy conservation, speed, and travel time optimization. Additionally, emissions analysis demonstrates that electric buses significantly reduce CO 2 emissions compared to conventional NGV buses, showcasing their potential for environmental benefits.

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Software Interference Prevention and SWaP-C Minimization in Cyber-Physical Systems Using Hypervisor Technology

Software Interference Prevention and SWaP-C Minimization in ...

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International Conference on Technology, Informatics, Management, engineering, and Environment (TIME-E)

作者： Bambang Sridadi Endra Joelianto Yul Yunazwin Nazaruddin Doctoral Program in Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Instrumentation Control and Automation Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia

ISBN: (数字)9798350364750

ISBN: (纸本)9798350364767

Currently, hypervisor technology is an emerging topic of research. Virtualization technology, especially hypervisors and virtual machines (VM), has been widely studied but is still little applied in the cyber-physical systems (CPS) field. A hypervisor, or VM monitor (VMM), is a software program used to run multiple VMs on a single physical machine through space and time partitioning in a real-time operating system. This paper discusses the hypervisor technology to prevent software interference and to minimize size, weight, and power-cost (SWaP-C) in cyber physical systems, as well as, the application of hypervisor technology in the aerospace, automotive and control fields. By partitioning, a hypervisor can increase software safety because application programs with different criticality levels do not affect each other in failure when run in partitioned VMs.

关键词： Virtual machine monitors Prevention and mitigation Operating systems Interference Cyber-physical systems Virtual machines Real-time systems Software safety Safety Aerospace control

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A Fast and Precise Multi-Level Coarse-to-Fine Registration Method for 3d Point Clouds

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SSRN 2023年

作者： Ervan, Osman Temeltas, Hakan Department of Control and Automation Engineering Faculty of Electric and Electronics Istanbul Technical University Ayazaga Campus Sariyer Maslak Istanbul34469 Turkey

Three-dimensional (3D) point cloud registration is a fundamental process in the fields of computer vision and robotics. It enables the alignment and fusion of multiple point cloud datasets acquired from diverse viewpoints or distinct temporal instances. The rapid progress of 3D sensing technologies in 3D LiDAR sensors has led to the widespread availability of point cloud data across various applications, including robotics, autonomous navigation, object recognition, and cultural heritage preservation. Nevertheless, the inherent presence of noise, occlusions, and varying scales within acquired point clouds presents significant challenges in achieving precise registration. In this paper, we proposed MultI-LEvel coarSe-TO-fiNe rEgistration algorithm, referred to as MILESTONE. Geometric features of the points have been extracted using eigenvalue and eigenvector-based multi-level similarity metrics. During pairwise registrations, changing the input point cloud between source and target can impact the registration performance. To address this issue, we introduced a correspondence intersection search mechanism, which effectively overcomes this problem. The similarity percentage metric calculation procedure generates the probability of two correspondence pairs being an exact match. These robust tools enhance the quality of the coarse registration, not only in terms of accuracy but also in terms of time consumption. Finally, the results of the coarse registration are updated in the fine registration step, completing the coarse-to-fine registration pipeline. The contribution of this proposed method lies in the enhancement of coarse registration accuracy, coupled with a reduction in the time required for fine registration. Comprehensive experimentation confirms that the proposed algorithm yields favorable outcomes, encompassing a high rate of successful registration, precise rotation estimation, accurate translation estimation, efficient runtime, and notably, surpasses the cap

关键词： Nearest neighbor search

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Stability of partially unstable discrete-time switched positive nonlinear systems with delays

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Applied Mathematics and Computation 2025年 507卷

作者： Ni, Jinyuan Sheng, Yin Xiao, Qiang Zeng, Zhigang Huang, Tingwen School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China

This paper addresses the stability issue of discrete-time switched positive nonlinear systems (SPNSs) characterized by partial unstable subsystems and constant delays. Firstly, we use a parameter to constrain the ratio of active durations of the stable and unstable modes, and derive the exponential stability conditions for SPNSs based on a key function. Then we analyze the relationship between convergence speed and the constant delay. Additionally, we obtain a stability criterion of SPNSs under a particular sequence of switching signals. Finally, we validate the results through a numerical example. © 2025 Elsevier Inc.

关键词： Stability criteria

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Designing of A Plastic Garbage Robot With Vision-Based Deep Learning Applications

Designing of A Plastic Garbage Robot With Vision-Based Deep ...

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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Thanh, Le Tien Lam, Le Hoang Nguyen, Thanh Nha Tran, Duc Thien Ho Chi Minh City University of Technology and Education Automation Control Department Ho Chi Minh City70000 Viet Nam Ho Chi Minh City University of Technology and Education Faculty of Electrical and Electronics Engineering Ho Chi Minh City70000 Viet Nam

ISBN: (纸本)9798350322941

To address the issue of plastic waste, a robot using deep learning technology for visual recognition to classify plastic waste has been developed. This system includes a 3DOF robot arm, a conveyor, a camera, an electrical cabinet, and a computer. The object detection component of the system is designed using transfer learning with a pre-trained YOLOv5 model to ensure the system operates in real time. Selecting the best model by evaluating and comparing the results of models trained using labeling by bounding box and polygon methods. Then, the real-world coordinates for the origin of the robot arm are determined by utilizing matrices obtained from MATLAB through chessboard images. The computer processes the data and transmits commands to the robot arm system and conveyor, which is controlled by a PLC and 3 different Servo Drivers, for object sorting on the conveyor. The best-performing model has a Precision of 92.1% and a Recall of 87.3%, and the success rate of picking up an object is 91.5%. While the experimental results indicate complete stability in inter-device connectivity, implementing it would necessitate hardware improvements to leverage its potential. © 2023 IEEE.

关键词： Deep learning

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Output Current Pulsation Reduction with Multi-coil Receiver in the Dynamic Wireless Charging Systems for Electric Vehicles

Output Current Pulsation Reduction with Multi-coil Receiver ...

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International Conference on control, automation and Information Sciences (ICCAIS)

作者： Tran Duc Hiep Nguyen Huu Minh Nguyen Thi Diep Tran Trong Minh Nguyen Kien Trung School of Electrical and Electronic Engineering Hanoi University of Science and Technology Viet Nam Faculty of Electrical Engineering Hanoi University of Industry Viet Nam Faculty of Control and Automation Electric Power University Viet Nam

Dynamic wireless charging (DWC) systems for electric vehicles are an important solution for electric vehicles to be used more commonly in the future. However, when the electric vehicle is moving and charging in the DWC lane, the charging current is pulsated. This charging current pulse will affect the battery life. This paper proposes a multi-coil receiver structure to reduce the pulsation of the output current. The proposal has been verified by simulation and experimental results, the output current pulsation achieved is 3.1%.

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A Microservices-Driven Digital Twin Model for Precision Farming in a controlled Indoor Environment

A Microservices-Driven Digital Twin Model for Precision Farm...

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International Conference on Technology, Informatics, Management, engineering, and Environment (TIME-E)

作者： Ramot Lubis Augie Widyotriatmo Albert Endra Joelianto Doctoral Program in Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Instrumentation Control and Automation Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia

ISBN: (数字)9798350364750

ISBN: (纸本)9798350364767

This paper presents a microservices-driven digital twin (DT) model for precision farming in controlled indoor environments, addressing the critical need for scalable, modular, and real-time agricultural systems. As the global demand for food rises, integrating Industry 4.0, IoT, edge, and cloud computing technologies becomes essential to improve farming process. The proposed model enhances scalability, modularity, and real-time decision making through decentralized data processing. A master-agent containerized computing architecture was employed to reduce latency and optimize environmental control. Moreover, the integration of a Kalman filter improved the accuracy of key environmental parameter adjustments. This research explored how this model can be scaled for larger farming operations and addresses challenges in system interoperability and implementation. Future work will expand this research to diverse agricultural settings, real-world validation, and ensuring data privacy and security. This study provides a framework for advancing precision farming through digital twin technology.

关键词： Computational modeling Scalability Microservice architectures Real-time systems Digital twins Indoor environment Kalman filters Security Interoperability Farming

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Design of Lowpass Filter and Wavelet Analysis for Electroretinogram in Dogs

Design of Lowpass Filter and Wavelet Analysis for Electroret...

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IEEE Region 10 International Conference TENCON

作者： Tunyawat Tuntrik Nalinee Tuntivanich David Banjerdpongchai Dept. of Electrical Engineering Center of Excellence in Intelligent Control Automation of Process Systems Faculty of Engineering Chulalongkorn University Bangkok Thailand Dept. of Veterinary Surgery Faculty of Veterinary Science Bangkok Thailand

In frequency domain, wavelet coefficient is one of the characteristics of ERG signal which is hidden in frequency-domain. This paper aims to develop a tool for analyzing the constituent frequencies and time of interest in the dog's ERG signal using wavelet analysis. We design a lowpass filter to reduce noise during the measurement of ERG response. ERG dataset was obtained for the light intensity series and their constituent frequencies are analyzed by using the continuous wavelet transform (CWT). The results show that, in time-domain, as light intensity increases, both amplitudes of a-wave and b-wave are higher. We can visualize the noise interference in the ERG signals. Then a lowpass filter is designed to attenuate the noise effect. The filtered signals have lower a-, and b-waves' amplitude which affect the important characteristics in time domain. Therefore, we choose to filter signal from 26ms onward, the main components are recovered, and the filtered signal becomes smoother. In frequency-domain, the peak magnitude of wavelet coefficients is increased as light intensity increases.

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SIF-STGDAN: A Social Interaction Force Spatial-Temporal Graph Dynamic Attention Network for Decision-Making of Connected and Autonomous Vehicles

SIF-STGDAN: A Social Interaction Force Spatial-Temporal Grap...

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IEEE Symposium on Intelligent Vehicle

作者： Qi Liu Yujie Tang Xueyuan Li Fan Yang Xin Gao Zirui Li School of Mechanical Engineering Beijing Institute of Technology Beijing China Faculty of Computer Science Dalhousie University Halifax Canada Chair of Traffic Process Automation "Friedrich List" Faculty of Transport and Traffic Sciences TU Dresden Germany

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

The collaborative decision-making technology of connected and autonomous vehicles (CAVs) is critical in today’s autonomous driving. Recently, graph reinforcement learning (GRL)-based methods have demonstrated exemplary performance in solving decision-making problems by implementing graphic technologies. However, current GRL-based research faces the challenge of modeling the interaction completely and extracting driving features efficiently. To address these issues, this paper proposes a social interaction force (SIF) spatial-temporal graph dynamic attention network (SIF-STGDAN) to solve the decision-making of CAVs. First, a SIF model is established to better represent the mutual effect between vehicles; an on-ramp merging scenario is then constructed and modeled by graph representation. Then, the SIF-STGDAN is proposed by combining the temporal convolutional network (TCN) and graph dynamic attention network to extract the graphic features of the on-ramp scenario efficiently, and the double deep q-learning (DDQN) algorithm is utilized to generate the optimized driving strategies for CAVs. Finally, experiments are conducted, and results show that our proposed SIF-STGDAN outperforms the baselines in terms of safety, efficiency, and model stability.

关键词： Graphics Heuristic algorithms Decision making Merging Force Feature extraction Stability analysis

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