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Study on the Robotic Arm Trajectory Compensation System with Deviation Sensing 3

Study on the Robotic Arm Trajectory Compensation System with...

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3rd International Conference on Mechatronics and Automation technology, ICMAT 2024

作者： Liu, Chao-Chung Liu, Jun-Chi Liu, Chao-Shu Dep. of Computer Science Zhaoqing University Zhaoqing526061 China Dep. of Industrial Design National United University Miaoli360301 Taiwan Dep. of Mechanical Engineering National Kaohsiung University of Science and Technology Kaohsiung80778 Taiwan

ISBN: (纸本)9781643685649

Robotic arms play an important role in the automation industry. Robotic arms plan processing paths based on the shape of the workpiece. However, the processing path often deviates due to inaccurate placement of the workpiece. To solve the issue of deviations, this paper develops a trajectory compensation system for a robotic arm with offset perception. This system uses the concept of workpiece boundary projection and designs an offset calculation algorithm by comparing the dimensions of the workpiece drawings, correcting errors caused by missing corners of the workpiece. In terms of operation, the system uses photoelectric sensors to quickly scan the workpiece boundary and immediately calculate the displacement and rotational offset of the workpiece. Subsequently, when deviations occur due to different placement positions of the workpiece, the robotic arm's motion path and action must be corrected and compensated to maintain precision. Tests on selected workpieces show that the corrected rotational angle error is less than 0.4 degrees, and the translational error is less than 0.7 millimeters. Since these correction error values are lower than the 1.0 mm error threshold for the robotic arm's trajectory tracking control. The offset-sensing robotic arm trajectory compensation system developed in this study can satisfy the requirements of smart automation production lines and arrive at the manufacturer's application standards. © 2024 The Authors.

关键词： Robotic arms

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Internet of Things (IoT): survey of most important security risks 3

Internet of Things (IoT): survey of most important security ...

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3rd IEEE International Maghreb Meeting of the Conference on Sciences and Techniques of Automatic Control and computer engineering, MI-STA 2023

作者： Alaskri, Ahmed Salem Ahmed, Nuredin Ali Shaari, Hala Collage of Computer Technology Software Engineering Dep. Tripoli Libya Faculty of Engineering Computer Engineering Department Tripoli Libya Faculty of Information Web Technologies Department Tripoli Libya

ISBN: (纸本)9798350319897

The Internet of things (IoT) is getting more and more intrusive into our lives until the day comes when everything becomes connected to the Internet. Due to the limited resources and heterogeneous Internet of Things (IoT) devices, the traditional means of protection are useless and cannot be used to protect these devices. The most important security risks, their causes and the consequences of their occurrence have been listed, scheduled and categorized. The study concluded that there are real security risks that cannot be ignored, and they need to find innovative solutions to eliminate them or reduce their damage to a minimum. This paper showed the main risks addressed in previews research, and outlined the gaps in this field of technology, also producing a brief summary information about the most important solution to avoid many threats against the IoT field. © 2023 IEEE.

关键词： Internet of things

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Investigation of a 7-Axis Suspended Robotic Arm for Automated Spraying System 3

Investigation of a 7-Axis Suspended Robotic Arm for Automate...

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3rd International Conference on Mechatronics and Automation technology, ICMAT 2024

作者： Liu, Chao-Chung Liu, Jun-Chi Liu, Chao-Shu Dep. of Computer Science ZhaoQing University ZhaoQing526061 China Dep. of Industrial Design National United University Miaoli360301 Taiwan Dep. of Mechanical Engineering National Kaohsiung University of Science and Technology Kaohsiung80778 Taiwan

ISBN: (纸本)9781643685649

This study successfully develops a 7-axis suspended robotic arm for an automated spraying system, considering factors such as flexible operation modes, spray area dimensions, workpiece geometry, and the degrees of freedom required for effective operation. By using SolidWorks software for verification, the endpoints of the robotic arm can reach all positions within the workspace. The design and fabrication of the arm are completed according to specifications for structural strength, load capacity, rated torque output, and rotational speed. Kinematic analyses, both forward and inverse, are applied to determine the posture and position of the 7-axis robotic arm, facilitating the planning and design of the spraying trajectory. The control system architecture utilizes a multi-axis servo control board, integrated with a manifold deformation control method for trajectory tracking. Simulations and experiments are conducted to use a car shell workpiece provided by the manufacturer. The results from the simulations of MATLAB analyses show that the maximum tracking error is less than 0.4 mm. In experiments with the robotic arm, the maximum error is less than 0.7 mm. The results of the simulation and experiment are quite close, indicating that the deformation control method effectively operates the posture and movement of the 7-axis suspended robotic arm. Therefore, the 7-axis suspended robotic arm developed in this study will be effectively utilized in the production line of the automated spraying system. © 2024 The Authors.

关键词： MATLAB

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Toward the Improvement of Probabilistic Classifiers Using Ontologies 2

Toward the Improvement of Probabilistic Classifiers Using On...

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2nd Edition IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural engineering, MetroXRAINE 2023

作者： Apicella, Andrea Corazza, Anna Isgrò, Francesco Prevete, Roberto University of Naples Federico Ii Dep. of Electrical Engineering and Information Technology Naples Italy

ISBN: (纸本)9798350300802

Incorporating ontological knowledge into supervised machine learning pipelines is a promising avenue of research aimed at enhancing classification performance. Specifically, when probabilistic ontologies are accessible, it is plausible to combine the corresponding probabilities with the outputs of a probabilistic classifier. This integration can enhance the classification process by incorporating the probabilistic information from the ontologies alongside the classifier outputs. This work investigates the gain given by using ontologies in an image classification task. We start from the hypothesis that context information of the elements present in an image can lead the classifier toward the correct class. An implementation of this integration is proposed and its effectiveness is demonstrated, especially in situations where the classifier accuracy is relatively low. The initial experimental results support the efficacy of this approach. To assess the impact of the ontology, performance was first measured on simulated classifiers on a subset of MIT-Indoor. Then, as a real case, we ran experiments using a Neural Network pre-trained on the ImageNet dataset. © 2023 IEEE.

关键词： classification ontological knowledge ontology probabilistic classifier

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Logistic Regression Classification for Assessing the Risk of Kidney Tumor 2

Logistic Regression Classification for Assessing the Risk of...

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2nd International engineering Conference on Electrical, Energy, and Artificial Intelligence, EICEEAI 2023

作者： Alzubi, Dalia Al Mamlook, Rabia Emhamed Nasayreh, Ahmad Aljaidi, Mohammad Alazab, Rami Gharaibeh, Hasan Al-Naamneh, Qais Concordia University Dep. Information and Systems Engineering Montreal Canada Trine University Dep. of Business Administration IN United States University Zawia Department of Industrial Engineering Tripoli Libya Yarmouk University Dep. Computer Science Irbid Jordan Zarqa University Dep. of Computer Science Zarqa Jordan Jordan University of Science and Technology Dep. Surgery and Urology Irbid Jordan Applied Science Private University Dep. of Cyber Security Amman Jordan

ISBN: (纸本)9798350373363

The kidneys have the important function of filtering waste products and toxins from the blood in the human body. Any problems affecting the kidneys can potentially impact their efficiency and overall function. Kidney Tumor (KT) is a disease that specifically affects kidney cells and causes the abnormal growth of tissue in one or both kidneys. Assessing the risk of developing a kidney tumor and identifying the key factors that contribute to this risk are crucial for ensuring patient well-being. Additionally, this information assists doctors and specialists in making faster and more accurate diagnoses, determining appropriate treatment methods, and potentially influencing the course of the disease to minimize its severity and impact. Machine learning algorithms have recently been introduced to evaluate disease risks, and in this study, we specifically focus on examining the risk of kidney tumor development and investigating the influencing factors. We employed a logistic regression model to predict if a patient is at risk of developing a kidney tumor or not, and further categorized the samples into high-risk and low-risk groups. Our model was trained and tested using a unique dataset obtained from the (KAUH) hospital in Jordan, consisting of well-balanced metadata from 120 patients with kidney issues. Our work demonstrated accuracy results ranging from 90% to 98%. Ultimately, specialists can utilize our model as an additional tool to enhance the speed and accuracy of patient diagnoses © 2023 IEEE.

关键词： Tumors

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Fuzzy Logic-Based Visualization and Interpretation of NDVI Maps 14

Fuzzy Logic-Based Visualization and Interpretation of NDVI M...

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14th Workshop on Hyperspectral Imaging and Signal Processing: Evolution in Remote Sensing, WHISPERS 2024

作者： Racoviteanu, Andrei Kazak, Artur Secrieru, Nicolae Ivanovici, Mihai Transilvania University of Brasov Electronics and Computers Dep. Romania Politehnica National University of Science and Technology Applied Electronics and Information Engineering Dep. Bucharest Romania Space Technology Center Technical University of Moldova Chisinau Moldova

ISBN: (纸本)9798331513139

Normalized Difference Vegetation Index (NDVI) is widely-used for the monitoring of agriculture crops. Its interpretation is based on thresholds and the colormaps used for the visualization of NDVI maps are discrete. We propose a fuzzy logic approach for both the visualization and the interpretation of the NDVI maps. The rationale is that the NDVI values of agricultural crops exhibit a certain spread, while the interpretation based on thresholds is prone to a certain degree of incertitude. We define several membership functions for modeling three sub intervals of the NDVI values in the [0, 1] range, useful for the interpretation of the vegetation status for agricultural crops. The three sub intervals are corresponding to three categories of vegetation status: dried-out vegetation, moderately healthy and strongly developed. For a Sentinel-2 time series, we compare the visualization using the crisp logic, the Sentinel-2 color palette, and the color palettes resulting from the proposed membership functions implementing the fuzzy logic. We show that our colormap has a smoother color gradient, which can facilitate a more visually-appealing and interpretable transition of colors. We also show an example of inference for the interpretation of the NDVI values for an operational usage of the proposed fuzzy logic approach. © 2024 IEEE.

关键词： Visualization

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Energy Access Assessment Report Focusing on Energy Poverty and Energy Demand for Rwanda 3

Energy Access Assessment Report Focusing on Energy Poverty a...

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3rd IEEE International Maghreb Meeting of the Conference on Sciences and Techniques of Automatic Control and computer engineering, MI-STA 2023

作者： Asiegbu, Adimchinobi Almaktoof, Ali Khalat, Abdurazag Cape Peninsula University of Technology Dep. of Electrical Electronics and Computer Engineering Cape Town South Africa Sabratha University Dep. of Electrical and Electronics Engineering Sabratha Libya

ISBN: (纸本)9798350319897

This technical report is a researched document that examines energy access in Rwanda, focusing on energy poverty assessment and energy demand assessment. The key findings and observations can help mitigate the energy access problems and improve access to modern energy in Rwanda. Studies have shown that sub-Saharan African countries have poor access or no access to modern energy, Rwanda being part of sub-Saharan Africa also has Poor access to modern and clean energy. To carefully study these energy access problems and proffer solutions to increase energy access in Rwanda based on realities in today's Africa, (where most households fall below poverty lines, with social issues, low Purchasing Power Parity (PPP) and Gross Domestic Power (GDP)), an assessment of these energy problems is done based on Energy Poverty Assessment (EPA) and Energy Demand Assessment (EDA) Composite Multidimensional Indicators (CMDI), respectively. Based on the findings of this research, non-poor energy households increased their energy consumption by 29.26% to 0.68 billion kWh. The clean cooking gas usage in Rwanda is very low at 2.1%, The 2016 estimated electricity consumption is 0.5273 billion kWh, growing by 57.41% to 0.83 billion kWh for energy-poor households in 2021, compared to 52.6% predicted by International Energy Agency (IEA). Finally, there is a direct relationship between energy access and economic development including quality of life, standard of living, per capita income, urbanization, modern infrastructure, etc. Thus, the key findings and observations in this research report will improve economic and infrastructural development in Rwanda, if implemented. © 2023 IEEE.

关键词： Smart power grids

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RF-Based Lightweight Machine Learning for Comprehensive Drone Activity Classification 2

RF-Based Lightweight Machine Learning for Comprehensive Dron...

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2nd International Conference on Artificial Intelligence, Blockchain, and Internet of Things, AIBThings 2024

作者： Alqodah, Mohammed A. Tahsin, Mahdia Omari, Mohammad H. Matalgah, Mustafa M. Harrison, David University of Mississippi Dep. of Electrical & Computer Engineering UniversityMS United States University of Mississippi Dept. of Computer and Information Science UniversityMS United States

ISBN: (纸本)9798331529529

The rapid rise of commercially available drones, driven by miniaturization and affordability, has introduced potential security risks alongside numerous societal benefits. While drones serve various industries, their unregulated use necessitates robust detection and classification methods. This paper proposes a novel, efficient model for classifying unwanted drone activity. We leverage statistical and time-domain features extracted from radio frequency (RF) signals and machine learning (ML) classifiers. This approach aims to not only detect drones but also distinguish their models and operational modes. Utilizing the DroneRF dataset, our feature selection strategy prioritizes informative signals in the low-band spectrum, achieving {100%} accuracy in both drone detection and drone model identification tasks. Furthermore, our hybrid model, combining time-domain and frequency-domain features, achieves an accuracy of {97.66%} in classifying different flight modes. This demonstrates the effectiveness of this comprehensive feature extraction approach for drone activity classification. © 2024 IEEE.

关键词： Drones

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A Smart Aquaponic System for Enhancing The Revenue of Farmers in Sri Lanka 9

A Smart Aquaponic System for Enhancing The Revenue of Farmer...

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9th International Conference on ICT for Smart Society, ICISS 2022

作者： Ekanayake, Dhanushka De Alwis, Pubudu Harshana, Pasindu Munasinghe, Dilusha Jayakody, Anuradha Gamage, Ms. Narmada Sri Lanka Institute of Information Technology Dep. of Computer Systems Engineering Malabe Sri Lanka

ISBN: (数字)9781665471350

ISBN: (纸本)9781665471350

Sri Lanka's agricultural sector confronts serious challenges from fertilizer shortages and agriculture-related chemical scarcity. Innovations comparable to aquaponic systems may be offered to Sri Lankan farmers to overcome these difficulties using IoT and ML technology. This research scope is to implement a smart and secure aquaponic environment monitoring system to forecast plant and fish growth factors, provide Sri Lankan farmers with insights into the environment's behaviors, and take measures according to the predictions utilizing control mechanisms. In this research, more exact predictions have been generated by the Random Forest algorithm model rather than the LSTM model, and most of the investigated parameters given good accuracy according to the absolute mean error (Media TDS-1.95, Media pH-0.06, Media Temperature-0.49, Env. Temperature- 0.94, Env. Humidity-2.70) except the environment light intensity (64.11). The ML solution studied in this research paper would increase the quality of traditional agriculture in Sri Lanka for greater productivity and economic benefit. © 2022 IEEE.

关键词： Internet of things

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The Correlation Between Architecture Smells, Package Stability and Reusability: A Case Study 4

The Correlation Between Architecture Smells, Package Stabili...

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4th IEEE International Maghreb Meeting of the Conference on Sciences and Techniques of Automatic Control and computer engineering, MI-STA 2024

作者： Benidris, Mrwan Elfallah, Ehab A. Omar Cheema, Marwa Aslam Alsma, Mohammed Salah Addin Kadiki, Tareq Ziad Elbarsha, Abdelfattah University of Benghazi Faculty of Information Technology Dep. of Computer Science Libya Libyan International Medical University Faculty of Information Technology Dept. of Software Engineering Libya University of Benghazi Faculty of Public Health Health Informatics Department Libya

ISBN: (纸本)9798350372632

the design decisions made in the architecture of a software system are essential to its maintainability, and thus its quality is of great importance. Architecture smells (ASs) can be used to identify any quality issues within the system. To further explore the relationships between ASs, stability, and reusability, Spearman correlation coefficients will be calculated. This paper seeks to examine the connection between architecture smells, software stability, and reusability. To do this, we utilized a dataset created by other researchers and conducted an empirical study of the associations between five types of architecture smells and software stability and reusability. This research is necessary as there is a lack of in-dep.h research on architecture smells and their relationship to software stability and reusability. We found a relationship between the presence of Feature Concentration in package and the stability and reusability of the package. Also, package's stability is affected by both Cyclic dep.ndency and Unstable dep.ndency. A slight positive correlation has been found between God Class and stability, as well as a very weak negative correlation between Unstable dep.ndency and reusability. Finally, we found a slight negative correlation between package stability and reusability. © 2024 IEEE.

关键词： Reusability

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