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Joint International Conference of the 14th International Conference on Mechanisms and Mechanical Transmissions and 26th International Conference on Robotics, MTM and Robotics 2024

作者： Crăciun, Rares Burlacu, Adrian Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9783031875366

Unmanned aerial vehicles have become increasingly used in recent decades, and the applications that use this type of robot are diverse. Knowing the state of the battery of these vehicles is also of great importance, along with the possibility of estimating it. There are many methods for approximating the voltage of a battery, from model-based to data-driven models. This paper presents the creation, analysis, and testing of several data-based models for the battery of a Crazyflie 2.0 drone. The goal is to estimate battery voltage based on planned trajectories using machine learning algorithms. The work implements a variety of machine learning models, such as Decision Trees, Random Forests, and Support Vector Machines, created using MATLAB. A sequence of flights yields experimental results, with data acquisition focusing on the drone’s position and the battery’s voltage. The machine learning algorithms are compared based on the prediction error. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Drones

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3-D Vision-Based Workspace with Deep Learning Capabilities for Autonomous Robot Manipulation

3-D Vision-Based Workspace with Deep Learning Capabilities ...

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Joint International Conference of the 14th International Conference on Mechanisms and Mechanical Transmissions and 26th International Conference on Robotics, MTM and Robotics 2024

作者： Braoveanu, Florian-Alexandru Iancu, Andrei-Iulian Botezatu, Adrian-Paul Burlacu, Adrian Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi70050 Romania

ISBN: (纸本)9783031875366

Process automation is a widespread concept and a popular approach to considering production facilities from the perspective of Industry 4.0. Using robots in a manufacturing line is one of the first options to increase efficiency, resilience, and precision, even in the conceptual envisioning stage of factory development. However, complete automation deprives the process of adaptability and robustness, a problem that can be overcome by using automation components that can perform behaviors close to human perception. The solution proposed in the present research is to adopt a deep learning system for a collaborative robot arm equipped with an adaptive gripper to obtain an intelligent system capable of handling various types of objects with different shapes in an unpredictable object-sorting scenario. An approach based on ARUCO markers is proposed to envelop the workspace where objects will be located, contributing to ease of use and generality. Conclusive experimental results, performance evaluation, and comments follow. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Collaborative robots

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Multivariable control in General Anesthesia: A Comparative Study of Model Predictive and Fractional-Order Strategies for Effect-Site Concentration and Hemodynamic Regulation

Multivariable Control in General Anesthesia: A Comparative S...

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International Conference on Computational Cybernetics (ICCC)

作者： Erwin T. Hegedüs Anca Maxim Marcian D. Mihai Isabela R. Birs Nicoleta Badau Cristina I. Muresan Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania

ISBN: (数字)9798331502461

ISBN: (纸本)9798331502478

Managing anesthesia and hemodynamic regulation during surgical procedures poses significant challenges due to patient-specific variability and the complex interactions of administered drugs. While advanced monitoring systems and Target-controlled Infusion (TCI) devices enhance precision in drug delivery, their reliance on manual adjustments limits real-time adaptability. This study investigates two advanced control strategies–centralized Model Predictive control (MPC) and decentralized fractional-order control–within a multivariable framework designed to regulate hypnosis, analgesia, and hemodynamic stabilization. Virtual patient simulations were used to evaluate these approaches under diverse anesthetic and, notably, hemodynamic conditions. The findings reveal that MPC delivers superior precision in maintaining the Bispectral Index (BIS) but tends to apply more aggressive adjustments to hemodynamic variables. In contrast, fractional-order control ensures smoother responses, though its ability to handle disturbances is less robust in certain scenarios. This study highlights the trade-offs between these strategies and advocates for further exploration of hybrid solutions to enhance patient safety and surgical outcomes.

关键词： Stability criteria Surgery Anesthesia Regulation Real-time systems Hemodynamics Safety Reliability Transient analysis Predictive control

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Designing Quantum-Resilient Blockchain Frameworks: Enhancing Transactional Security with Quantum Algorithms in Decentralized Ledgers

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International Journal of Advanced Computer Science and Applications 2025年第4期16卷 618-628页

作者： Kale, Meenal R. Baker El-Ebiary, Yousef A. Sathiya, L. Burugari, Vijay Kumar Yulduz, Erkiniy Muniyandy, Elangovan Alanazi, Rakan Department of Humanities Yeshwantrao Chavan College of Engineering Hingna Nagpur India Faculty of Informatics and Computing UniSZA University Malaysia Department of CSE Panimalar Engineering College Chennai India Dept of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh Guntur India Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of Biosciences-Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Applied Science Research Center Applied Science Private University Amman Jordan Department of Information Technology Faculty of Computing and Information Technology Northern Border University Rafha Saudi Arabia

Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secure blockchain like Rivest–Shamir–Adleman (RSA), Elliptic Curve Cryptography (ECC) and Secure Hash Algorithm 256-bit (SHA256) are the characteristic of the traditional cryptographic techniques vulnerable to attack by quantum algorithms: Shor’s and Grover’s algorithms: can efficiently break asymmetric encryption and speed up brute force attacks. Because of this vulnerability, there exists a need to develop an advance quantum resilient blockchain framework to protect the decentralized ledgers from the future threats of the quantum. This research proposes Post-Quantum Cryptography (PQC), Quantum Key Distribution (QKD) and Quantum Random Number Generation (QRNG) as a formidable architectural integration, to fortify security of blockchain. Classical encryption is replaced with PQC, QKD with secure key exchange by detecting eavesdropping, and QRNG with improving cryptographic randomness to remove the predictable key vulnerability. Only with a small loss of transaction efficiency, we increase transaction encryption accuracy, key exchange security, and resistance to quantum attacks. In this quantum enhanced blockchain design, the idea is to preserve the decentralization, transparency and security and at the same time overcome the future quantum threat. By going through rigorous analysis and comparative evaluation, we demonstrate that the approach saves blockchain networks from the emerging quantum risks to make sure that the decentralized finance, smart contracts and cross chain transactions. © (2025), (Science and Information Organization). All rights reserved.

关键词： Quantum cryptography

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Arterial Intersection Improvement by Using Vehicle Platooning and Coordinated Start

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IFAC-PapersOnLine 2018年第9期51卷 136-141页

作者： Lazar, C. Tiganasu, A. Caruntu, C.F. Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

Intersections are the bottlenecks of the urban arterial causing the reduction of its capacity. In order to maximize the efficiency of existing transportation systems capacity with urban congestion reduction, intelligent transportation systems are employed. In this paper, such a solution is presented using the cooperative adaptive cruise control (CACC) of vehicle platoons waiting at a red traffic signal which enables thus to begin accelerating in a coordinated manner once the traffic signal turns green. This coordinated start could allow more vehicles to pass through an intersection on a green cycle than manual driving and thus increasing the urban arterial capacity. To design and evaluate the CACC system, a novel simulator for connected vehicle applications is developed. The simulation results show that the proposed CACC approach offers significant mobility. © 2018

关键词： Urban transportation Adaptive cruise control Intelligent systems Traffic congestion Traffic signals Vehicles Connected vehicles Cooperative adaptive cruise control Intelligent transportation systems Manual driving Transportation system Urban congestion Vehicle platoons

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Nonlinear Model Predictive control using Lyapunov Functions for Vehicle Lateral Dynamics

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IFAC-PapersOnLine 2016年第3期49卷 135-140页

作者： Rafaila, Razvan C. Caruntu, Constantin F. Livint, Gheorghe Gheorghe Asachi Technical University of Iasi Iasi Romania Department of Electrical Engineering and Applied Informatics United States Department of Automatic Control and Applied Informatics United States

The purpose of this paper is the development of a nonlinear model based predictive control strategy for the autonomous control of the steering system for ground vehicles. The control system is aimed to automatically steer the vehicle along a desired trajectory. The developed strategy uses control Lyapunov functions to guarantee the stability of the closed-loop control system. In order to obtain reliable results, a nonlinear vehicle dynamic model is used in the design phase of the controller. The model incorporates the tire-ground contact nonlinearities and describes with higher accuracy the real vehicle dynamics. The proposed approach is validated using simulation results and it is shown that this approach could provide good performances in practical use. © 2016

关键词： Model predictive control Automobile steering equipment Closed loop control systems Dynamic models Lyapunov functions Nonlinear systems Predictive control systems Steering Autonomous Vehicles Bicycle model Lyapunov stability Parameter optimization Predictive control Steering control

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Complex system dedicated to monitoring and control of hydroponic greenhouse environment 17

Complex system dedicated to monitoring and control of hydrop...

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17th International Multidisciplinary Scientific Geoconference, SGEM 2017

作者： Ştefan, Mocanu Alexandru, Dumitraşcu Cosmin, Popa Department of Automatic Control and Applied Informatics Bucharest Romania Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computers UPB Bucharest Romania

ISBN: (纸本)9786197408263

Fast increase of Earth population during the last decades raised a serious problem when it came to providing fresh and good quality food (mainly vegetables) in big quantity over a short period of time. Due to relatively long lifecycles of plants when growing in gardens or fields, the best solution consisted in using greenhouses. Greenhouses proved to be a very important solution since they are capable of operating regardless of local environments if minimum requirements (heating and water) are provided. By offering optimum growing conditions for the plants, the greenhouse environments not only stimulate a shorter lifecycle but also offer almost perfect protection against pests or plants diseases. An even better solution is represented by hydroponic greenhouses which exhibit several advantages over traditional greenhouses: they do not need earth for growing plants, the size and location are less restrictive, the plant cultures can be overlapped and the nutrients and other parameters can be controlled and personalized more efficiently. However, this comes with a higher cost for implementing and using automatic control architecture. In addition to specialized sensors, efficient solutions for data transmission, control and command must be used. In this paper a hydroponic system is presented. It aims to control not only a greenhouse but a set of greenhouses by aggregating them into a complex grid alike mechanism of monitoring and control. Intermediate results prove the solution is functional but the final architecture is not yet finalized. © SGEM2017.

关键词： Embedded systems

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On the design and implementation of holonic manufacturing systems

On the design and implementation of holonic manufacturing sy...

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2009 WRI World Congress on Computer Science and Information Engineering, CSIE 2009

作者： Panescu, Doru Sutu, Marius Pascal, Carlos Department of Automatic Control and Applied Informatics Technical University of Iasi Romania

ISBN: (纸本)9780769535074

Some points regarding the design and implementation of holonic manufacturing systems are presented. As the holonic approach supposes a distributed architecture regarding both planning and execution, certain methods and techniques of multi-agent systems can be used. These need specific adaptations, and the paper is focused on describing how the planning solution is conceived in order to obtain the proper coordination in the holonic system and the way communication can be solved using a CORBA based service oriented architecture. The proposed scheme is exemplified in the case of the resource holons' materialization. The developed architecture was tested on a manufacturing system with real industrial equipment. The respective system and the considered manufacturing scenarios constitute a valuable testbed for the validation of the holonic method. © 2008 IEEE.

关键词： Common object request broker architecture (CORBA)

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Determining on-shelf availability based on RGB and ToF depth cameras 23

Determining on-shelf availability based on RGB and ToF depth...

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23rd International Conference on control Systems and Computer Science Technologies, CSCS 2021

作者： Craciunescu, Mihai Baicu, Diana Mocanu, Stefan Dobre, Cristian Faculty of Automatic Control and Computer Science Department of Automatic Control and Applied Informatics Bucharest Romania Rinftech Bucharest Romania

ISBN: (纸本)9781665439398

In this paper, a method of calculating the occupancy of a shelf will be presented. A vision pillar composed of two RGB cameras and two ToF depth cameras will be used to scan a shelf and determine the percentage of emptiness for the products. Since the cameras will scan a small section of the shelf at the time, a stitching method will be applied on both depth and RGB stream. In order to identify categories of products, along with their spatial delimitation within a shelf, a segmentation neural network is used. By combining the segmentation output with the depth information, the distance from the pillar to the product can be determined. Since this type of information does not help a human operator or a supervisor in understanding the state of the shelf or in making an appropriate decision, such as restocking, a method for computing the shelf occupancy is proposed. Optimization must be done to the processing algorithms to enable them to run on an embedded platform, which will allow for the implementation of the proposed architecture on a platform deployed in a production environment. All the computation is done on board of the mobile robot without transmitting the data to an external server. © 2021 IEEE.

关键词： Cameras

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Educational services in cloud with IBM technology: A new model for open, on demand learning in higher education

Educational services in cloud with IBM technology: A new mod...

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2012 International Conference on Information Technology Based Higher Education and Training, ITHET 2012

作者： Anton, Florin Daniel Anton, Silvia Borangiu, Theodor Department of Automatic Control and Applied Informatics University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9781467323345

The paper describes a cloud implementation for a consortium of four universities used for on demand education. The cloud infrastructure allow a better resource allocation for laboratories, customizations of the working environment, on demand class setup and more other features which allow improvements in the learning processes. The infrastructure is composed by two IBM CloudBurst 2.1 infrastructures, located in two different geographical locations, connected by a high speed fiber optic connection, allowing fault tolerance, high availability and virtual machine relocation. The system is used by four universities: University Politehnica of Bucharest, University "Transilvania" of Brasov, Academy of Economic Studies of Bucharest and University of Medicine and Pharmacy "Carol Davila" of Bucharest. The paper is composed by six sections: an introduction presenting the actual context in for education services and the necessity for cloud computing in education, a section which describes the hardware and software architecture of the system, then the virtual machine management and monitoring system is presented, followed by section which discusses about the e-learning system implemented, the SSKE (Service Science Knowledge Environment) system is presented in another section, and the paper finishes by a conclusions section presenting further developments and first results. © 2012 IEEE.

关键词： Fault tolerance

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