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1st International Conference on Electronics, Biomedical engineering, and Health Informatics, ICEBEHI 2020

作者： Rifai, Damhuji Pazikadin, Abdul Rahim Ali, Kharudin Faraj, Moneer A. Khamsah, Noraznafulsima Abdalla, Ahmed N. Faculty of Electrical and Automation Engineering Technology UCTATI Terengganu24000 Malaysia Electrical and Electronics Engineering Department Omar al Mukhtar University Al Baida Libya Faculty of Electronic Information Engineering Huaiyin Institute of Technology Huai’an Jiangsu China

ISBN: (纸本)9789813369252

Accurate measurement the depth of defect is essential to ensure the reliability and integrity of the pipe line structure and safety of the personnel workers in the oil and gas industry. This study proposes intelligent algorithm base on Fuzzy logic scheme to compensate the depth error measurement of GMR sensor on mild steel superficial crack. Intelligent rules in Fuzzy logic scheme allows the propose method to be effective on compensate lift off effect in between 1 and 4 mm. The Eddy current testing probe is design by utilize the sensitive of GMR sensor on magnetic field in order to improve the accuracy depth crack measurement on mild steel. The Arduino Mega 2650 was used as a data processing device for receiving and transmitting of signal through the available fifty-four digital pins (as input and output) and sixteen analogue pins. MATLAB is use as a platform to design and implementation the Fuzzy error compensation. The experiment results show the proposed sensor error compensation scheme able to reduce the error measurement up to 23%. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fuzzy logic

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Adaptive Sensitivity Amplification control with Q-Learning for Cable-Driven Lower-Limb Exoskeletons

Adaptive Sensitivity Amplification Control with Q-Learning f...

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Chinese control Conference (CCC)

作者： Linzhen Zhong Xiaodong Wang Guanbin Gao Yashan Xing Faxiang Zhang Faculty of Information Engineering & Automation Kunming University of Science and Technology Kunming China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming China Faculty of Mechanical & Electrical Engineering Kunming University of Science & Technology Kunming China

This paper proposes a sensitivity amplification control (SAC) based on Q-learning for the cable-driven lower-limb exoskeleton (CDLEX) to guarantee the tracking performance and achieve comfortable human-robot interaction (HRI). There is no requirement for direct measurement of HRI in the SAC scheme, hence the force/torque sensors are avoided. For the purpose of accommodating the uncertainties of the interaction environment, such as the individual gaits and suddenly changing walking trajectories, the Q-learning algorithm is utilized to realize online parameter tuning of SAC. Finally, comparative numerical simulations are included to verify the effectiveness of the control scheme.

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft Robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

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Electric three-wheel chassis

Electric three-wheel chassis

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ELEKTRO

作者： Michal Mihá lik Branislav Malobický Mariá n Hruboš Alž beta Kaná liková Department of Control and Information Systems Faculty of Electrical Engineering and Information Technology University of &#x017D ilina &#x017D ilina Slovak Republic

ISBN: (数字)9781665467261

ISBN: (纸本)9781665467278

This science work deals with the manufacture and control of a differential mobile chassis for the needs of Simultaneous Localization and Mapping. In the introduction, we present the issue of the SLAM (Simultaneous localization and mapping) algorithm as the way through which we want to implement the production and control of the differential chassis. In the next part, we deal with the implementation of the mobile platform of the future chassis where the configuration of one fixed drive axle was used, with two wheels and one freewheel, which indicates the direction of the chassis. This assembly is managed using the Raspberry Pi platform.

关键词： Motor drives Simultaneous localization and mapping Wheels Prototypes Production Microprogramming Electric motors

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Exploiting hybrid features extracted from color spaces of dermoscopic images

Exploiting hybrid features extracted from color spaces of de...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Simona Moldovanu Mihaela Miron Anisia Culea-Florescu Department of Computer Science and Information Technology Faculty of Automation Computers Electrical Engineering and Electronics Dunarea de Jos University of Galati Galați Romania Department of Electronics and Telecommunications Faculty of Automation Computers Electrical Engineering and Electronics Dunarea de Jos University of Galati Galați Romania

In the context of detecting dangerous illnesses of the patient affected by skin lesions, this study is focused on the problem of improving the classification of melanoma vs. normal nevus considering neural network and new proposed features based on high and low pixels intensity, and densities of the pattern detected with hit-or-miss (HoM) morphological transform. A large set of features from color spaces such as RGB (red, green, and blue), HSV (hue, saturation, and value) and L*a*b* (lightness variable L*, chromaticity indices a* and b*) were initially extracted and grouped in two parts: the first group includes first and second order features, and the second group contains hybrid features (a mix of first order, second order features and proposed features). The dimensionality of the features from these two groups is considerably reduced with principal component analysis (PCA) statistical method and fed three different types of neural network (NN): Radial Basis Function Neural Network (RBFNN), Cascade-Forward Neural Network (CFNN) and Pattern Recognition Neural Network (PRNN). From this corroboration of hybrid features, color space and NN, the L*a*b* color space with CFNN provided accuracy (ACC) of 0.897, F1-score of 0.91 and area under the ROC curve (AUC) of 0.896, respectively.

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Application of mixed graph traversal optimization for the vehicle routing problem

Application of mixed graph traversal optimization for the ve...

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European control Conference (ECC)

作者： Lá szló Kocsá ny Emese Gincsainé Szá deczky-Kardoss Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

The Vehicle routing problem (VRP) is widely discussed in the literature. The goal of the VRP is to provide an optimized traversal of a graph. This paper presents a mixed graph traversal optimization for the VRP. The mixed graph is a graph that contains both directed and undirected edges. The problem to be solved is a parking space search problem in a mixed graph where, from an initial location a vehicle first navigates to a zone, where the selected edges are located, and plans the traversal driving through all selected edges, and returning to the start of the exploration so that the path is repeatable. The paper shows, that the parking space search problem in a mixed graph can be reduced to a travelling salesman problem (TSP), for which an ant colony optimization (ACO) is implemented, to provide a solution, that is minimizing the total cost of the mixed graph traversal.

关键词： Space vehicles Costs Navigation Roads Vehicle routing Europe Directed graphs

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Prediction of the Navigation Angles Using Random Forest Algorithm and Real Flight Data of UAVs

Prediction of the Navigation Angles Using Random Forest Algo...

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International Symposium on Intelligent Systems and Informatics (SISY)

作者： Huda Naji Al-sudany Béla Lantos Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781665489898

Unmanned aerial vehicles (UAVs) are becoming more common in aviation. Predicting and estimating of UAV attitude are important aspects of the communication strategy. Autonomous UAVs' attitude estimate is a crucial component for controlling in flight mission. The attitude can take many forms such as Euler angles and Quaternion. This paper explains attitude estimation of UAV using Random Forest (RF) algorithm based on real flight data of Accelerations, Angular velocity, Magnetic Field, and GPS measurements for prediction current attitude angles (roll, pitch and yaw). The developed algorithm uses features that are derives from sensors measurements. The developed RF model results showed accurate prediction of UAVs attitude angles with small error values.

关键词： Radio frequency Magnetic field measurement Current measurement Sensor phenomena and characterization Autonomous aerial vehicles Prediction algorithms Angular velocity

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A Study on Citation Impact with Age Diversity between Disciplines

SSRN

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SSRN 2024年

作者： Sheng, Jingran Liang, Bo Wang, Lin Wang, Xiaofan Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China School of Electrical and Electronic Engineering Shanghai Institute of Technology Shanghai China

With the ongoing evolution of scientific research collaboration in depth and breadth, the age distribution among paper collaborators is becoming increasingly varied. Consequently, the question of whether this age distribution affects the quality of collaborative papers has emerged as a significant topic in recent research. In this study, we have compiled and established a comprehensive scientific database, comprising more than 3.5 million papers. These papers, featuring multiple attribute information, originate from over 180 countries. We define the age diversity of a paper based on the academic ages of its co-authors and examine the relationship between age diversity and citation impact using regression analyses. Our findings reveal a clear upward trend in the age diversity of authors over time. The results indicate that the average age diversity of highly cited papers is consistently higher than that of general papers across the entire timeline, spanning four disciplines: economics, engineering, computer science, and physics. Moreover, we demonstrate a significantly positive correlation between age diversity and citation impact. In the aforementioned four disciplines, an increase in the collaborators’ age diversity is associated with a corresponding rise in the paper’s citation impact. This study contributes to a deeper understanding of age-related dynamics in scientific collaboration. It also offers insights into the age distribution of teams, providing practical suggestions for researchers engaged in collaborative endeavors. © 2024, The Authors. All rights reserved.

关键词： Regression analysis

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

arXiv

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

arXiv

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arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance. © 2024, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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