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AI-Based Battery Consumption Prediction for Nano-drones

AI-Based Battery Consumption Prediction for Nano-drones

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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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Integration of MITL for Cobots Workflow in a Manipulating Application 29

Integration of MITL for Cobots Workflow in a Manipulating Ap...

引用

29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Huştiu, Sofia Iancu, Andrei-Iulian Braşoveanu, Florian-Alexandru 'Gheorghe Asachi' Technical University of Iasi Department of Automatic Control and Applied Informatics Romania

ISBN: (纸本)9798350361230

Cooperative machines are the essence of automated systems that provide solutions in various domains, one example being the manufacturing industry. Specifically, the ability to synchronize the mission of each robot represents a crucial decision-making factor in this domain. This paper provides a path-planning solution for an application with two collaborative robots (also known as cobots) that should fulfill individual missions under the Metric Interval Time Logic (MITL) formalism. This formalism allows us to embody spatial and time requirements. This work provides two contributions in this field, based on the two phases of the planning solution: (a) a synchronization mechanism based on a high-level planner, developed on a previously defined model denoted Composed Time Petri net, that joins both the mission of the robots and its capabilities of movement and (b) experimental validation of the high-level planner based on a low-level path execution implemented on Robot Operating System (ROS) that facilitates the execution of the planned path to validate the simulated event sequence. The Composed Time Petri net is model-checked through simulations in the ROMEO tool, while the corroboration of the results is based on an experiment with two cobots: UR5 and LM3 with individual MITI missions, that are collaborating in a manipulating application: UR5 should pick and place pieces, while LM5 should pick up a tool, e.g., welding gun, to glue the pieces. A video with the results can be inspected here [1]. © 2024 IEEE.

关键词： Petri nets

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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 ...

引用

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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Enhancing Urban Cooperative Transportation Systems using the V2X-based MOSAIC Platform 16

Enhancing Urban Cooperative Transportation Systems using the...

引用

16th International Symposium on Electronics and Telecommunications, ISETC 2024

作者： Alupoaei, Sebastian I. Caruntu, Constantin F. Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania

ISBN: (纸本)9798350390865

Rapid urban growth and increased vehicle use present major challenges for traditional transportation systems, causing congestion, accidents, and pollution. Traffic jams lead to delays, economic losses, and accidents. This study explores the V2X-based MOSAIC platform for traffic data analysis in Iasi, Romania's second-largest city, assessing indicators like density and speed. The aim is to enhance efficiency and safety in urban transport, offering insights to reduce congestion with future intelligent systems. © 2024 IEEE.

关键词： Traffic congestion

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An Evaluation of the Dual Vectors Based Solutions for Robot-World/Hand-Eye Calibration 1

引用

25th International Symposium on Measurement and control in Robotics, ISMCR 2023

作者： Ganciu, Aura Burlacu, Adrian Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering "Gheorghe Asachi" Technical University of Iași Iași Romania

ISBN: (数字)9783031510854

ISBN: (纸本)9783031510847

The hand-eye calibration problem represents a major challenge in robotics, arising from the widespread usage of robotic systems along with robot-mounted sensors. Briefly, consisting of estimating the position and orientation of a visual sensor (usually a camera attached to the robot’s end-effector) with respect to the robot itself, calibration is critical in tracking rigid bodies—a common task within mixed reality applications. Hand-eye calibration implies solving the problem formulated as AX = XB or AX = YB equations. The solution lies in computing the unknown homogeneous transformation matrices X and Y, given the A and B parameterizations of rigid body motions. We present the dual vectors based approaches for AX = XB and AX = YB calibration problems, making use of the isomorphism between the special Euclidean group and the orthogonal dual tensor group. Comparisons with state-of-the-art algorithms are used to assess our obtained results. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Mixed reality

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Challenges and Solutions in Designing a Network Architecture for Red and Blue Cybersecurity Competitions 27

Challenges and Solutions in Designing a Network Architecture...

引用

27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Chindrus, Cristian Caruntu, Constantin F. Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9798350337983

With the increasing importance of cybersecurity in our digital age, cybersecurity competitions have become a popular way to test the incident response abilities of participants. This paper proposes a network architecture to test the vulnerabilities that may appear in a Red and Blue cybersecurity competition. The network architecture is designed to simulate a real-world cyber-attack scenario and includes a router, a core system, and multiple subnets representing different teams. Each subnet contains vulnerable systems that must be protected by the teams, who must also launch attacks on the other teams to identify flags. The architecture presents several challenges, including the large number of rules required for router configuration, which prohibit direct access to opposing teams' virtual machines (VMs) and restrict/block access to specific phases of the competition. The VMs used in the competition include various vulnerabilities related to cryptocurrency wallet operation, medical clinics, chat services, X-ray clinics, SCADA communication protocols, and industrial power plants. Overall, the network architecture and VMs used in this competition provide a challenging and realistic scenario for participants to test their skills in identifying and mitigating cybersecurity threats. © 2023 IEEE.

关键词： Network architecture

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Towards independent SMA actuators: A novel analog two-state control system for flexible robots 28

Towards independent SMA actuators: A novel analog two-state ...

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28th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Brasoveanu, Florian-Alexandru Burlacu, Adrian Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania

ISBN: (纸本)9798350339918

The soft robotics field offers a large variety of actuators and robots, complex structures and designs able to behave in a required way, offering speed and resistance and at the same time reducing the contact damage chance. The control of such structures using mathematical methods requires complex methods which evolved over time in the form of predictive control and even neural networks and genetic algorithms. The current paper presents ongoing research that can be found at the intersection of meta-materials and sensor technology. It approaches a simpler method of controlling a flexible actuator based on a shape memory alloy, the regulator being a two-state switch controller steered by a pressure force sensor. We propose a complete analogical electrical structure and analyze the performance of the outcome, focusing on time response. The present work also contains a brief description of a mechanical design proposal able to optimize the impact of the shape memory alloy used, in order to obtain an amplified actuation. © 2023 IEEE.

关键词： Genetic algorithms

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Evaluation of Channel Congestion for V2V Safety Communication in Multiplatooning Applications 65

Evaluation of Channel Congestion for V2V Safety Communicatio...

引用

65th International Symposium ELMAR, ELMAR 2023

作者： Lazar, Razvan-Gabriel Caruntu, Constantin-Florin Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania

ISBN: (纸本)9798350325126

The applications related to cooperative automated driving need to share periodic safety information with neighboring vehicles in a reliable and low-latency manner. However, the performance of vehicular ad-hoc technologies degrades substantially when the channel becomes congested. Therefore, this paper presents a channel congestion evaluation method for V2V safety communication for the IEEE 802.11p protocol. The evaluation addresses multiplatooning applications, in which the vehicles' density is a defining element. To illustrate the negative effects of the channel load level, a number of relevant performance metrics were analyzed, such as Channel Busy Ratio (CBR), Packet Loss Rate (PLR), and Inter-Packet Delay (IPD). © 2023 IEEE.

关键词： Packet networks

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Reproducibility in Deep Reinforcement Learning with Maximum Entropy 27

Reproducibility in Deep Reinforcement Learning with Maximum ...

引用

27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Paleu, Tudor-Andrei Pascal, Carlos Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (纸本)9798350337983

The latest work in the field of deep reinforcement learning speaks highly about the advanced exploration techniques which avoid the greedy decisions of agents. Usually, reinforcement learning works by finding the optimal policy for a Markov Decision Process. In off-policy algorithms the agent learns a value function for this optimal policy, separate of the action choice, an example being the deep Q-learning algorithm. Algorithms based on a maximum entropy framework, like soft Q-learning, overcome the greedy behavior of the agent, effectively combining exploration and exploitation by adding an entropy term to the Bellman equation. This method, applied to the Lunar Lander environment, was compared to the classic deep Q-learning, using the same set of different random seeds and averaging multiple runs. An implicit exploration strategy proves to compensate for disturbances caused by intrinsic sources of non-determinism, such as random seeds. This paper highlights the sensitivity to intrinsic and extrinsic influences for deep reinforcement learning, with respect to exploration and repeatability. © 2023 IEEE.

关键词： Reinforcement learning

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Improving the Security of a Webservice: Best Practices and Attack Simulations 23

Improving the Security of a Webservice: Best Practices and A...

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23rd RoEduNet Conference: Networking in Education and Research, RoEduNet 2024

作者： Anghel, Ana Magdalena Mihalache, Daniel-Cristian Melnic, Radu POLITEHNICA University Faculty of Automatic Control and Computers Automatic Control and Industrial Informatics Department Bucharest Romania Technical University of Moldova Faculty of Computers Informatics and Microelectronics Moldova

ISBN: (纸本)9798331540388

Most of the nowadays applications are client-server based. Exposing a webservice is a common practice, but the question is: what happens when the webservice is exposed from a low-level programming language? How can we manage to avoid the most common mistakes which can introduce vulnerabilities into the application? This paper focuses not only on some of the best practices when developing a webservice using C++, but also on improving the security of that webservice. We proposed a series of methods to enhance the security of the application and some of them were validated using an empirical approach. Through comprehensive testing and analysis into a controlled environment, we confirmed that using a digital certificate on the server side can minimize the impact of the famous 'man-in-The-middle' attack. We simulated two types of attacks on the developed webservice: A passive one-'sniffing' and an active one-'man-in-The-middle'. The results underscore the fact that webservice security can also be enhanced even if it is developed using a low-level programming language. © 2024 IEEE.

关键词： C++ (programming language)

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