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Automatic fare collection system for public transport with high level security

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AIP Conference Proceedings 2024年第1期3035卷

作者： Rathika Pacharpalayam Dhamodhiran Kishore Saravanan Pragatheesh Jagadeesan Rangasamy Vimal Venkatachalam Kannappan Subash Dhandapani Department of Robotics and Automation Engineering PSG College of Technology Coimbatore Tamilnadu India

To implement a sustainable digitalized automatic fare collection system in public transport (buses) to ensure automatic cashless transaction system as a step-forward towards Digital India., to collect the travel data and analyze them for improving the efficiency of public transportation, to prevent spread of contagious diseases by eliminating transfer of currency notes, to provide a fool proof system to prevent fare evasion. Solution: digitalized automatic fare collection system with fool proof system Public Transport sector is a sector where implementing a digital payment system is tough especially in a country like India. In this proposed system, a prepaid NFC and barcode card is used to buy tickets in public buses. These cards contain an encrypted hash of a unique identification number of the individual passenger. The cards can be recharged like an e wallet in an online portal using different payment methods. Tickets can be bought on buses with the help of these cards without any contact. The ticket machine contains an NFC and barcode card reader and is connected to the cloud. The NFC and barcode card of the passenger is scanned by the ticket machine and the ticket details are entered. The ticket machine is installed in the bus entrance for fully automated ticket system. Now, the ticket machine sends the hash of the card and the ticket details to the cloud. In the cloud, the hash is decrypted and matched with the unique identity from the cloud database. Then the price of the ticket is deducted from the passenger's e-wallet and the confirmation message of the payment with passenger name and 4-digit visible card number is displayed on the ticket machine. Also, e ticket is sent to the passenger's mobile number as a text message with ticket details. Hence, both the bus management and passengers will be able to confirm their ticket.

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Constrained Generative Sampling of 6-DoF Grasps

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arXiv 2023年

作者： Lundell, Jens Verdoja, Francesco Le, Tran Nguyen Mousavian, Arsalan Fox, Dieter Kyrki, Ville Intelligent Robotics Group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland KTH Royal Institute of Technology Sweden NVIDIA Corporation United States Paul G. Allen School of Computer Science & Engineering University of Washington Seattle United States

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object’s body while avoiding other locations, such as the cap. This work presents a generative grasp sampling network, VCGS, capable of constrained 6-Degrees of Freedom (DoF) grasp sampling. In addition, we also curate a new dataset designed to train and evaluate methods for constrained grasping. The new dataset, called CONG, consists of over 14 million training samples of synthetically rendered point clouds and grasps at random target areas on 2889 objects. VCGS is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in simulation and on a real robot. The results demonstrate that VCGS achieves a 10–15% higher grasp success rate than the baseline while being 2–3 times as sample efficient. Supplementary material is available on our project website. Copyright © 2023, The Authors. All rights reserved.

关键词： Bottles

Hardware-accelerated Mars Sample Localization via deep transfer learning from photorealistic simulations

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arXiv 2022年

作者： Castilla-Arquillo, Raúl Pérez-Del-Pulgar, C.J. Paz-Delgado, G.J. Gerdes, L. Department of Automation and Systems Engineering Universidad de Málaga Andalucía Tech Málaga29070 Spain Automation and Robotics Section The European Space Agency Keplerlaan 1 Noordwijk2201 AZ Netherlands

The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on the Martian surface. As part of this campaign, it is expected that the Sample Fetch Rover will be in charge of localizing and gathering up to 35 sample tubes over 150 Martian sols. Autonomous capabilities are critical for the success of the overall campaign and for the Sample Fetch Rover in particular. This work proposes a novel system architecture for the autonomous detection and pose estimation of the sample tubes. For the detection stage, a Deep Neural Network and transfer learning from a synthetic dataset are proposed. The dataset is created from photorealistic 3D simulations of Martian scenarios. Additionally, the sample tubes poses are estimated using Computer Vision techniques such as contour detection and line fitting on the detected area. Finally, laboratory tests of the Sample Localization procedure are performed using the ExoMars Testing Rover on a Mars-like testbed. These tests validate the proposed approach in different hardware architectures, providing promising results related to the sample detection and pose estimation. © 2022, CC BY.

关键词： robotics

Mutual Impacts of Different Dead-times and Control Sample Times on SiC Inverter Loss in Experimental Motor Drive at High Carrier Frequencies

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Mutual Impacts of Different Dead-times and Control Sample Ti...

International Conference on Communications and Electronics, ICCE

作者： Nguyen Gia Minh Thao Van-Long Pham Kutsukake Asuka Keisuke Fujisaki Ton Duc Do Department of Mechanical Electrical and Electronic Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Matsue Japan Department of Automation School of Electrical and Electronic Engineering Hanoi University of Science and Technology Hanoi Vietnam Next Generation Tatara Co-Creation Centre Shimane University Matsue Japan Electromagnetic Energy System Laboratory Toyota Technological Institute Nagoya Japan Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350379792

ISBN: (纸本)9798350379808

At high pulse-width modulation (PWM) carrier frequencies up to 200 kHz using silicon carbide (SiC) devices, the individual and mutual impacts of the sample time and dead-time on the SiC inverter loss in a motor drive system may become significantly. Thus, these issues under load condition are experimentally investigated and analyzed in the present study, where the dead-time is from 250 to 1000 ns and the control sample time is from 100 to 1000 μs. Furthermore, the measured results with the SiC metal–oxide-semiconductor field-effect transistor (MOSFET) inverter are briefly compared to that with the silicon (Si) insulated-gate bipolar transistor (IGBT) inverter for reference. Moreover, the total harmonics distortion (THD) of the measured voltage and current of the considered interior permanent magnet synchronous motor (IPMSM) is provided to explain the results. Finally, insights with theoretical analysis are shown as complementary explanations of the experimental findings. The outcome of this research can be treated as a reference in choosing the suitable value of the control sample time for IPMSM drive systems using SiC-MOSFET inverters.

关键词： Semiconductor device measurement Time-frequency analysis Motor drives Voltage measurement Magnetic field measurement Silicon carbide Current measurement

DG-NBV: A Cognitive Framework for Direct Generation of Next Best View in Continuous View Space

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IEEE Transactions on Cognitive and Developmental Systems 2024年

作者： Liu, Zhicheng Cao, Zhiqiang Li, Jianjie Guan, Peiyu Yu, Junzhi Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Peking University Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

The next best view (NBV) plays an important role in the three-dimensional object reconstruction. Existing NBV methods mainly adopt the generate-and-test strategy to select the best view in the discrete view space. This affects the adaptation to diverse objects. To solve this problem, a new NBV paradigm to directly generate the next best view in the continuous view space according to the input point cloud is proposed. Specifically, a point cloud feature extraction module with learnable view and position tokens is presented. These tokens are added upon the neighborhood and the position features of the point cloud to fully mine global contextual information, enhancing the feature representation. The predicted view from the proposed network is linked to a pre-trained view evaluation network. By duplicating this prediction view and then concatenating the duplication result with the extracted point cloud feature, the evaluation network is endowed with the ability to evaluate arbitrary views. Take the evaluation score of the evaluation network corresponding to the predicted view as the supervision signal, the network is trained. In this way, an effective solution of the next best view selection in the continuous view space is obtained. Accordingly, the adaptability to different objects is reinforced. Experimental results on the ShapeNet and MIT CSAIL datasets demonstrate the effectiveness of the proposed method. © 2024 IEEE.

关键词： Feature extraction

Design and Analysis of a Low-g MEMS Accelerometer Utilizing Weakly Coupled Resonators

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Design and Analysis of a Low-g MEMS Accelerometer Utilizing ...

International Conference on engineering and Emerging Technologies (ICEET)

作者： Pirbhat Kumar Shafaat Ahmed Bazaz Muhammad Mubasher Saleem Department of Mechatronics Engineering National University of Sciences and Technology (NUST) Islamabad Pakistan Faculty of Engineering and Technology Superior University Lahore Pakistan National Centre of GIS and Space Applications (NCGSA) Islamabad Pakistan National Centre of Robotics and Automation (NCRA) Islamabad Pakistan

ISBN: (数字)9798350316926

ISBN: (纸本)9798350316933

The primary focus of this paper is to design a mode-localized MEMS accelerometer that incorporates weakly coupled resonators of 2-DoF. This accelerometer's proof-mass is designed to form an electrostatic coupling with the inner resonator of the 2-DoF weakly coupled resonators. The acceleration sensed by this device is measured by using the ratios between the amplitudes of vibrations in both resonators. A comprehensive analysis is performed which incorporates both simulations based on FEM (finite element method) and analytical calculations. This approach allows for a thorough understanding of the device's behavior and characteristics. The limitations and constraints of the widely available microfabrication technique, SOIMUMPS (silicon-on-insulator multi-user MEMS processes) are also considered while designing this accelerometer. Overall, this paper presents a comprehensive overview of the design process, performance analysis, and fabrication readiness of the 2-DoF mode-localization-based MEMS accelerometer. The sensitivity reported for this accelerometer is 6.94/g, considering the ratio of the vibrational amplitudes as the output metric. The findings demonstrate the potential of this design to meet the stringent requirements of various applications, particularly those requiring precise motion-sensing capabilities.

关键词： Accelerometers Micromechanical devices Vibrations Sensitivity 2-DOF Resonant frequency Silicon-on-insulator

Towards microfluidic-based optical encryption using superhydrophobic surfaces created by femtosecond laser ablation 11

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Towards microfluidic-based optical encryption using superhyd...

11th IEEE Annual International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2021

作者： Zheng, Jianchen Yu, Haibo Wen, Yangdong Zhao, Wenxiu Luo, Hao Liu, Lianqing Li, Wen Jung State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences and the Institutes for Robotics and Intelligent Manufacturing Shenyang110016 China CAS-CityU Joint Laboratory for Robotic Research CityU Kowloon Tong Hong Kong Department of Mechanical Engineering Kowloon Tong Hong Kong

ISBN: (纸本)9781665425278

Although superhydrophobic surfaces have been extensively studied in the past, few studies have achieved optical encryption through the manipulation of droplets combined with the surface superhydrophobic properties. We present here our work in using femtosecond laser ablation to create micro-/nano-structures on polydimethylsiloxane (PDMS) substrate surfaces, enabling them to become superhydrophobic. Directional transport tracks to steer droplet motions were designed on the processed PDMS surface utilizing a high-contrast difference in surface wettability;self-cleaning property using the droplets was also verified on the substrate surface. Moreover, using a surface with designed high-contrast regions to trap droplets, magnetic-assisted manipulation of nanoparticles enabled in-situ reversible optical imaging/encryption. Our simple method for creating high-contrast surface wettability regions holds great potential for fostering a wide range of innovative applications such as droplet-based microfluidics as well as new optical encryption devices. © 2021 IEEE.

关键词： Laser ablation

Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions

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arXiv 2022年

作者： Ding, Fan Wang, Han He, Jianping Ren, Yi Zheng, Yu The Department of Automation Shanghai Jiao Tong University Shanghai China The Department of Engineering Science University of Oxford Oxford United Kingdom The Tencent Robotics X Lab Shenzhen China

Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we design a configuration-aware safe control law by solving a Quadratic Programming (QP) with designed Control Barrier Functions (CBFs) constraints, which can safely navigate a mobile robotic arm to a desired region while avoiding collision with environmental obstacles. The advantage of our approach is that it correctly and in an elegant way incorporates the spatial structure of the mobile robotic arm. This is achieved by merging geometric restrictions among mobile robotic arm links into CBFs constraints. Simulations on a rigid rod and the modeled mobile robotic arm are performed to verify the feasibility and time-efficiency of proposed method. Numerical results about the time consuming for different degrees of freedom illustrate that our method scales well with dimension. © 2022, CC BY.

关键词： Numerical methods

Learning Dynamic Facial Radiance Fields for Few-Shot Talking Head Synthesis

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arXiv 2022年

作者： Shen, Shuai Li, Wanhua Zhu, Zheng Duan, Yueqi Zhou, Jie Lu, Jiwen Department of Automation Tsinghua University China Beijing National Research Center for Information Science and Technology China PhiGent Robotics China Department of Electronic Engineering Tsinghua University China

Talking head synthesis is an emerging technology with wide applications in film dubbing, virtual avatars and online education. Recent NeRF-based methods generate more natural talking videos, as they better capture the 3D structural information of faces. However, a specific model needs to be trained for each identity with a large dataset. In this paper, we propose Dynamic Facial Radiance Fields (DFRF) for few-shot talking head synthesis, which can rapidly generalize to an unseen identity with few training data. Different from the existing NeRF-based methods which directly encode the 3D geometry and appearance of a specific person into the network, our DFRF conditions face radiance field on 2D appearance images to learn the face prior. Thus the facial radiance field can be flexibly adjusted to the new identity with few reference images. Additionally, for better modeling of the facial deformations, we propose a differentiable face warping module conditioned on audio signals to deform all reference images to the query space. Extensive experiments show that with only tens of seconds of training clip available, our proposed DFRF can synthesize natural and high-quality audio-driven talking head videos for novel identities with only 40k iterations. We highly recommend readers view our supplementary video for intuitive comparisons. Code is available in https://***/DFRF/. Copyright © 2022, The Authors. All rights reserved.

关键词： Large dataset