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International Conference on Control, Automation, Robotics & Vision

作者： Caixia Cai Nikhil Somani Suraj Nair Dario Mendoza Alois Knoll Robotics and Embedded Systems Lab Department of Computer Science Technische Universitat Munchen Germany

ISBN: (纸本)9781479952007

In this paper, we present an uncalibrated position-based fixed-camera Visual Servoing for robot manipulators, where the goal is to track the 3D position and orientation of the target. The stereo system with 2 USB cameras is uncalibrated with respect to the robot base frame and the transformation between them is estimated on-line while performing the task. Dynamic impedance control is designed to generate a dynamic trajectory for the robot manipulator considering the dynamic environment constraints, such as: robot singularities avoidance and (self-/obstacle-) collision avoidance. Experiments have been carried out to verify performance of the proposed system on a real industrial robot, where the calibration estimation process and handling of all uncertainties in the environment are demonstrated. Moreover the uncalibrated stereo camera system can be manually moved while performing the task in order to obtain a clearer view and the re-calibration is performed automatically and on-line.

关键词： Cameras Three-dimensional displays Collision avoidance Robot kinematics Visual servoing

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STM32 miner : A lightweight blockchain mining system

STM32 miner : A lightweight blockchain mining system

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IEEE International Conference on Design & Test of Integrated Micro & Nano-systems (DTS)

作者： Jalel Ktari Hedi Choura Tarek Frikha Mouna Baklouti Dhia Mejdi Molka Kotti Ahmed Zribi Hassine Touil Ghaith Oueslati Computer Embedded Systems Lab National Engineering School of Sfax Sfax Tunisia Data Engineering and Semantics Unit National Engineering School of Sfax Sfax Tunisia Computer Sciences and Applied Mathematiques Departement National Engineering School of Sfax Sfax Tunisia

Despite being a promising area of exploration, the application of embedded systems in blockchain technology, particularly with FFGA or Raspberry technology, remains relatively limited. Despite the advantages offered by FPGAs, such as high-speed memory, parallel computing blocks, and a flexible architecture, their use in blockchain has primarily been focused on Proof of Work (PoW) consensus *** this paper, our goal is to address this gap by presenting the implementation of a blockchain application specifically tailored for the STM32 platform. By leveraging the capabilities of the STM32 microcontroller, we aim to demonstrate the practicality and effectiveness of embedded systems in blockchain technology, overcoming the limitations observed with previous platforms.

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Budget-feasible User Recruitment in Mobile Crowdsensing with User Mobility Prediction

Budget-feasible User Recruitment in Mobile Crowdsensing with...

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IEEE International Performance Computing and Communications Conference

作者： Wenjie Yang Guodong Sun Xingjian Ding Xiaoyue Zhang School of Information Science and Technology Beijing Forestry University Beijing China Embedded Networked Systems Lab Beijing Forestry University Beijing China Department of Computer Science Renmin University of China Beijing China

ISBN: (纸本)9781538668092;9781538668085

Mobile crowdsensing (MCS) is a new and promising tool in urban sensing. It exploits a crowd of smartphone-carried mobile users and transfers their sensory data to requesters who usually publish spatio-temporal tasks of sensing city area. In reality, mobile users can probabilistically move in the sensing region in their daily mobility and stay there for a period of time;and then these probabilistic users can be recruited to collaboratively perform MCS sensing tasks. Such an MCS depending on the probabilistic collaboration of mobile users is usually called non-deterministic MCS. In this paper, we focus on the budget-feasible user recruitment (BFUR) problem in non-deterministic MCS, which is the first work to maximize the requester's utility under a given budget constraint. Because of the NP-hardness of BFUR, we reformulate it as a monotone submodular maximization problem and propose a greedy algorithm (called uMax) with provable constant-factor competitiveness. Unlike previous works for non-deterministic MCS, however, this paper specially puts effort on predicting the mobility patterns of users, especially their stay time in requester's sensing region, and then designs an effective predictor based on bi-directional long short-term memory neural network. Such a prediction of user's stay time not only connects the BFUR problem modeling defined in this paper and the actual mobility uncertainty of users, but also can apply to any non-deterministic MCS campaign that depends on the knowledge of user's stay patterns. We finally validate the performance of the proposed predictor under a real-world dataset of wireless mobile networks, and evaluate algorithm uMax by comparing it with two other baseline algorithms.

关键词： Mobile crowdsensing User recruitment User mobility prediction LSTM neural network Submodular maximization

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Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications

arXiv

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arXiv 2024年

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

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. © 2024, CC BY.

关键词： Costs

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Application of Fractional Order Current Controller in Three Phase Grid-Connected PV systems

Application of Fractional Order Current Controller in Three ...

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American Control Conference

作者： Hadi Malek Sara Dadras YangQuan Chen Electrical and Computer Engineering Department Utah State University Logan Utah USA Mechatronics Embedded Systems and Automation (MESA) Lab MEAM/EECS School of Engineering University of California Merced Merced CA 95343 USA

ISBN: (纸本)9781479932757

The main purpose of this work is to develop a closed-loop fractional order control system for a three phase grid-connected photo-voltaic (PV) system. A two level three phase inverter with an inductive filter is chosen as a benchmark, due to the fact that this topology is more popular and simple in a grid connected PV system. A fractional order PI controller has been tuned for current control loop of the considered system and the system responses are compared with the responses of the closed loop system with integer order controller. Simulation results show the improvement in the performance of grid-connected PV system by using the fractional order controller.

关键词： THREE-PHASE fractional order current controller PI control control ring system response Closed loop systems BENCHMARKS

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Adaptive Informative Sampling with Autonomous Underwater Vehicles: Acoustic versus Surface Communications

Adaptive Informative Sampling with Autonomous Underwater Veh...

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OCEANS MTS/IEEE Monterey (Conference)

作者： Stephanie Kemna David A. Caron Gaurav S. Sukhatme Robotic Embedded Systems Laboratory Computer Science Viterbi School of Engineering University of Southern California Caron Lab Department of Biological Sciences Dana and David Dornsife College of Letters Arts and Sciences University of Southern California

ISBN: (纸本)9781509015276

Autonomous underwater vehicles (AUVs) are cost-and time-effective platforms for mapping and monitoring of aquatic environments. Previous works have shown the benefits of using informative adaptive sampling approaches for field estimation over running standard surveys. We are interested in extending these works into decentralized multi-robot approaches. Simulation experiments with two AUVs, comparing no data sharing with timed surfacing for data sharing, show that the system performs better when data is shared. We further explore the trade-off between using high-bandwidth surface Wi-Fi communications, at the cost of surfacing, and low-bandwidth underwater acoustic communications (acomms). Our simulation results show that for multi-vehicle decentralized adaptive sampling, we can increase modeling performance by having vehicles share their measurements. Furthermore, zero loss acomms can perform better than data sharing through timed surfacing events. However, when acomms throughput is reduced, modeling uncertainty increases.

关键词： Vehicles Adaptation models Data models Sensors Path planning Biology Sea measurements

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A Distributed Market-based Algorithm for the Multi-robot Assignment Problem

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Procedia computer Science 2014年 32卷 1108-1114页

作者： Sahar Trigui Anis Koubaa Omar Cheikhrouhou Habib Youssef Hachemi Bennaceur Mohamed-Foued Sriti Yasir Javed University of Manouba ENSI Tunisia Cooperative Intelligent Networked Systems (COINS) Research Group Riyadh Saudi Arabia Prince Sultan University College of Computer and Information Sciences Riyadh Saudi Arabia CISTER/INESC-TEC ISEP Polytechnic Institute of Porto Porto Portugal University of Sfax Computer and Embedded Systems Lab Tunisia University of Sousse PRINCE Research Unit Tunisia Al Imam Mohammad Ibn Saud Islamic University Computer Science Department Saudi Arabia

Assigning tasks to a set of robots is a fundamental problem in robotics. It consists in finding the best task assignment to the available robots. In this paper, we present two distributed market-based algorithms to solve the assignment problem where n robots compete for n tasks with the assumption that each robot can be assigned to only one task. The first algorithm, called DMB, represents a Distributed Market-Based algorithm where each robot bids for every task. The second algorithm is an extension of the DMB. It consists in swapping tasks between robots in order to improve the efficiency of the whole assignment. We conducted both real-world experimental testing, and MATlab simulations to evaluate performance of the proposed algorithms and compare them against the centralized Hungarian algorithm in terms of traveled distance. Simulation results show that the IDMB algorithm produces near optimal solutions and in several cases it gives the optimal solution. In addition, we demonstrated the feasibility of our algorithms through real-world experimentation on robots.

关键词： Task Assignment Market-based Algorithms Multi-Robot Task Allocation ROS.

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Artificial Intelligence for securing SDIoT: challenges and countermeasures

Artificial Intelligence for securing SDIoT: challenges and c...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Ameur Salem Zaidoun Hajer Baccouch Abderrahmen Guermazi Zied Lachiri Signal Images and Information Technologies Lab National Engineering School of Tunis Tunisia Higher Institute of Technological Studies of Siliana Tunisia Computer and Embedded Systems Lab National Engineering School of Sfax Tunisia Higher Institute of Technological Studies of Sfax Tunisia

SDIoT (Software Defined IoT) is an emerging IoT technology, deployed using SDN architecture; nevertheless, it presents several weaknesses, which can be raised in different layers. To mitigate SDIoT intrusions and attacks, security as used in a common network cannot provide a complete solution and must be enhanced with AI (Artificial Intelligence) based countermeasures tools, mainly machine and deep learning. The paper identifies the salient features of SDIoT technology. Afterwards, it describes the most common attacks against SDIoT networks and possible countermeasures using several deep learning algorithms. In addition, the paper describes datasets used for learning steps. At the end, it discusses the suitability of AI based security tools to some attacks.

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Temperature-aware software-based self-testing for delay faults 15

Temperature-aware software-based self-testing for delay faul...

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Design, Automation and Test in Europe Conference and Exhibition

作者： Ying Zhang Zebo Peng Jianhui Jiang Huawei Li Masamro Fujita School of Software Engineering Tongji University China Embedded Systems Lab Linköping University Sweden State Key Laboratory of Computer Architecture Chinese Academy of Sciences China VLSI Design and Education Center University of Tokyo Japan

ISBN: (纸本)9783981537048

Delay defects under high temperature have been one of the most critical factors to affect the reliability of computer systems, and the current test methods don't address this problem properly. In this paper, a temperature-aware software-based self-testing (SBST) technique is proposed to self-heat the processors within a high temperature range and effectively test delay faults under high temperature. First, it automatically generates high-quality test programs through automatic test instruction generation (ATIG), and avoids over-testing caused by nonfunctional patterns. Second, it exploits two effective powerintensive program transformations to self-heat up the processors internally. Third, it applies a greedy algorithm to search the optimized schedule of the test templates in order to generate the test program while making sure that the temperature of the processor under test is within the specified range. Experimental results show that the generated program is successful to guarantee delay test within the given temperature range, and achieves high test performance with functional patterns.

关键词： Delays Program processors Temperature distribution Power dissipation Circuit faults Schedules

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Quantum Calculus-Based Two-Dimensional Least Mean Square Algorithm

Quantum Calculus-Based Two-Dimensional Least Mean Square Alg...

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Asilomar Conference on Signals, systems & computers

作者： Muhammad Moinuddin Azzedine Zerguine Ubaid M. Al-Saggaf Muhammad Arif Electrical and Computer Engineering Department and the Centre of Excellence in Intelligent Engineering Systems King Abdulaziz University Jeddah Saudi Arabia Electrical Engineering Department and the Interdisciplinary Research Center for Communication Systems and Sensing KFUPM Dhahran Saudi Arabia Institute of Networked and Embedded Systems University of Klagenfurt and the Ubiquitous Sensing Systems Lab University of Klagenfurt-Silicon Austria Labs Klagenfurt Austria

ISBN: (数字)9798350354058

ISBN: (纸本)9798350354065

Recent work of the one-dimensional q-LMS algorithm give insight that the Quantum Calculus based gradient called the q-gradient is capable of improving the convergence behavior in contrast to the standard LMS algorithm. The reason for this is the fact that the q-derivative takes larger steps in minimizing a cost function as it evaluates the secant in contrast to the tangent of the cost function. Motivated by this, we propose a two-dimensional version of the q-LMS algorithm. More precisely, we employ Quantum Calculus based q-gradient in steepest descent optimization of mean-square-error (MSE) cost function in 2D adaptive filtering scenario to obtain two-dimensional q-LMS (2D q-LMS) algorithm. A thorough analytical investigation of the proposed 2D q-LMS algorithm in both mean and mean-square sense is provided. Both the transient and steady-state convergence behaviours are examined. Consequently, excess MSE (EMSE) learning curve and its steady-state expression are evaluated in closed form. Simulation results are presented for the application of noise cancelation in images to show the superiority of the proposed 2D q-LMS algorithm.

关键词： Filtering Two-dimensional displays Simulation Cost function Calculus Steady-state Performance analysis Transient analysis Standards Convergence

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