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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Corrigendum to "Hyperledger sawtooth based supplychain traceability system for counterfeit drugs" [Comput. Ind. Eng. 190 (2024) 110021] (computers & Industrial Engineering (2024) 190, (S0360835224001426), (10.1016/***.2024.110021))

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computers and Industrial Engineering 2025年 204卷

作者： Nawaz, Anum Wang, Liguan Irfan, Muhammad Westerlund, Tomi Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Turku Intelligent and Embedded Robotic Systems Lab Faculty of Technology University of Turku Finland

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Multi-Layer Secured Edge-AI Enabled Model for Consumer Health systems

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IEEE Transactions on Consumer Electronics 2025年

作者： Rehman, Amjad Haseeb, Khalid Saba, Tanzila Jeon, Gwanggil Al-Otaibi, Shaha Lab Riyadh12435 Saudi Arabia Incheon National University College of Information Technology Department of Embedded Systems Engineering Incheon22012 Korea Republic of Princess Nourah bint Abdulrahman University College of Computer and Information Sciences Department of Information Systems Riyadh11671 Saudi Arabia

The Internet of Medical Things (IoMT) and edge computing technologies have significantly advanced the healthcare industry by enabling real-time monitoring and data processing at the network edges. Medical devices are combined with consumer electronics to measure the physiological factors of the human body and transfer them to cloud storage for further analysis and processing. However, optimizing routing to account for limited processing power and network constraints of the consumer healthcare system poses a significant research challenge. Moreover, due to the restricted environment, several privacy and security issues arise with integrating heterogeneous technologies over wireless systems. In this work, we proposed a multi-layer secured-edged-enabled AI model for health systems to provide real-time data analysis and transmission decisions at the edges. Firstly, the intelligent algorithm employs dynamic and trusted routing strategies at the edges to control the data flow and minimize the network congestion on consumers’ data. Secondly, in the event of data and integrity breaches, randomized security patterns are investigated to build trust among devices using edge management and raise the degree of data privacy. The randomized security patterns improve the analysis of data security by integrating the concept of rotating encryption keys and their management. Such a paradigm decreases the probabilities of network threats and generates unpredictable patterns for increasing the resilience of IoT systems in the existence of harmful devices. The proposed model is tested using various simulation based experiments, revealing its significant improvement over existing studies for packet drop ratio, data delay, system uptime, data breaches, and security overhead. © 1975-2011 IEEE.

关键词： Electronic health record

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The Controllability, Observability, and Stability Analysis of a Class of Composite systems with Fractional Degree Generalized Frequency Variables

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 859-864页

作者： Cuihong Wang Yafei Zhao YangQuan Chen IEEE the Department of Mathematics and Computer Science Shanxi Normal University the Mechatronics Embedded Systems and Automation(MESA) Lab

This paper is concerned with fundamental properties of a class of composite systems with fractional degree generalized frequency variables, including controllability, observability and stability. Firstly, some necessary and sufficient conditions are given to guarantee controllability and observability of such composite systems. Then we prove that the stability problem of such composite systems can be reduced to judging whether a fractional degree polynomial is stable. Finally, the stability analysis result is applied in the supervisory control of fractional-order multi-agent systems, and an example is provided to illustrate the effectiveness of the proposed methods.

关键词： Composite system controllability fractionalorder system observability stability

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Power and thermal analysis of stacked mesh 3D NoC using AdaptiveXYZ routing algorithm

Power and thermal analysis of stacked mesh 3D NoC using Adap...

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15th Euromicro Conference on Digital System Design, DSD 2012

作者： Rahmani, Amir-Mohammad Vaddina, Kameswar Rao Liljeberg, Pasi Plosila, Juha Tenhunen, Hannu Embedded Computer and Electronic Systems Lab. Department of IT University of Turku Finland Finland

ISBN: (纸本)9780769547985

Three-dimensional integrated circuits (3D ICs) offer greater device integration, reduced signal delay and reduced interconnect power. It also provides greater design flexibility by allowing heterogeneous integration. However, 3D technology exacerbates the on-chip thermal issues and increases packaging and cooling costs. In order to exploit the intrinsic capability of reducing the wire length in 3D ICs, 3D NoC-Bus Hybrid mesh architecture was proposed. This architecture provides a seemingly significant platform to implement an integrated low-cost system-wide monitoring network. In this paper, a generic monitoring and management platform called ARB-NET is presented. Based on the ARB-NET monitoring platform, a fully congestion-aware adaptive routing algorithm named AdaptiveXYZ is provided which takes advantage from viable information generated within the monitoring network. In addition, we address both the power and thermal issues of a stacked mesh 3D network on chips using AdaptiveXYZ routing. To this end, a thermal model of a 3D stacked NoC system in a modern flip-chip package is developed. Thermal and power analysis are performed in order to investigate the impact of the proposed adaptive routing from the power and thermal perspectives. Our experiments with a videoconference encoder as a real application show significant power, performance and peak temperature improvements compared to a typical stacked mesh 3D NoC. © 2012 IEEE.

关键词： Network-on-chip

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Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator

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International Journal of Automation and computing 2015年第2期12卷 117-124页

作者： Lilia Zouari Hafedh Abid Mohamed Abid Computer and Embedded Systems Laboratory National School of Sfax EngineersUniversity of Sfax Laboratory of Sciences and Techniques of Automation (Lab-sta) National School of Sfax EngineersUniversity of Sfax

This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.

关键词： Flexible joint manipulator uncertainties proportional integral(PI) controller sliding mode brushless direct current motor.

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ARB-NET: A novel adaptive monitoring platform for stacked mesh 3D NoC architectures

ARB-NET: A novel adaptive monitoring platform for stacked me...

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17th Asia and South Pacific Design Automation Conference, ASP-DAC 2012

作者： Rahmani, Amir-Mohammad Latif, Khalid Rao Vaddina, Kameswar Liljeberg, Pasi Plosila, Juha Tenhunen, Hannu Embedded Computer Systems Lab. Department of Information Technology University of Turku Finland Finland

ISBN: (纸本)9781467307727

The emerging three-dimensional integrated circuits (3D ICs) offer a promising solution to mitigate the barriers of interconnect scaling in modern systems. In order to exploit the intrinsic capability of reducing the wire length in 3D ICs, 3D NoC-Bus Hybrid mesh architecture was proposed. Besides its various advantages in terms of area, power consumption, and performance, this architecture has a unique and hitherto previously unexplored way to implement an efficient system-wide monitoring network. In this paper, an integrated low-cost monitoring platform for 3D stacked mesh architectures is proposed which can be efficiently used for various system management purposes. The proposed generic monitoring platform called ARB-NET utilizes bus arbiters to exchange the monitoring information directly with each other without using the data network. As a test case, based on the proposed monitoring platform, a fully congestion-aware adaptive routing algorithm named AdaptiveXYZ is presented taking advantage from viable information generated within bus arbiters. Our extensive simulations with synthetic and real benchmarks reveal that our architecture using the AdaptiveXYZ routing can help achieving significant power and performance improvements compared to recently proposed stacked mesh 3D NoCs. © 2012 IEEE.

关键词： Three dimensional integrated circuits

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An efficient hybridization scheme for stacked mesh 3D NoC architecture

An efficient hybridization scheme for stacked mesh 3D NoC ar...

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20th Euromicro International Conference on Parallel, Distributed and Network-Based Processing, PDP 2012

作者： Rahmani, Amir-Mohammad Liljeberg, Pasi Plosila, Juha Tenhunen, Hannu Embedded Computer Systems Lab. Department of Information Technology University of Turku Finland Finland

ISBN: (纸本)9780769546339

Three-dimensional (3D) integration is a viable design paradigm to overcome the existing interconnect bottleneck in integrated systems and enhance system power/performance characteristics. In order to exploit the intrinsic capability of reducing the wire length in 3D ICs, stacked mesh 3D NoC architecture was proposed. However, this architecture suffers from naive and straightforward hybridization between NoC and bus media. In this paper, an efficient hybridization scheme is presented to enhance system performance, power consumption, and area of stacked mesh 3D NoC architectures. By utilizing a routing rule called LastZ the proposed hybridization scheme offers many advantages investigated in detail to emphasize the significant achievements. Our extensive simulations with synthetic and real benchmarks, including an integrated videoconference application show that compared to a typical 3D NoC-Bus Hybrid Mesh architecture, our hybridization scheme achieves significant power, performance, and area improvements. © 2012 IEEE.

关键词： Network-on-chip

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Poster abstract: Contour detection using actuated sensor networks

Poster abstract: Contour detection using actuated sensor net...

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SenSys'03: Proceedings of the First International Conference on embedded Networked Sensor systems

作者： Dantu, Karthik Sukhatme, Gaurav S. Robotic Embedded Systems Lab. Dept of Computer Science University of Southern California Los Angeles

ISBN: (纸本)1581137079

The detection of concentric contours that monotonically degrade in each direction from the (single) source was analyzed. Static sensor nodes were deployed at random in the plane and each node sensed the field its vicinity. The mobile sensor node collected the sensed values of the field gradient from its neighbor along with their location. Analysis shows that the fraction of detected contours increases as the average node degree of static sensor network increases.

关键词： Telecommunication networks

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Near-Optimal Coverage Path Planning of Distributed Regions for Aerial Robots with Energy Constraint

Near-Optimal Coverage Path Planning of Distributed Regions f...

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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： Khanam, Zeba McDonald-Maier, Klaus Ehsan, Shoaib Embedded and Intelligent Systems Lab School of Computer Science and Electronics Engineering University of Essex United Kingdom

ISBN: (纸本)9780738131153

Unmanned Aircraft Vehicles (UAVs) have gained immense popularity for area coverage having applications such as environmental monitoring, demining, search and rescue, among others. Most of the existing studies exploring area coverage have considered only a single region, however, few recent studies have considered coverage of multiple distributed regions. One of the limitations which UAV suffers while covering distributed multiple regions is energy constraints where complete area coverage is not possible. From a strategical point of view, we propose a novel algorithm which solves a variant of area coverage problem where the UAV aims to achieve near-optimal area coverage due to path length limitation caused by the energy constraint. In this paper, a preliminary study is conducted by first formulating the problem and later on presenting a solution. The solution has been partitioned into two inter-dependent sub-problems: i) inter-region coverage, ii) intra-region coverage. The performance of the algorithm has been evaluated by analysing its properties over an exhaustive set of test case scenarios and comparing it against two state-of-the-art area coverage approaches. © 2021 IEEE.

关键词： Motion planning

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