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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Altay, Yeldos A. Kuzivanov, Dmitry O. Altay, Dinara A. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Military Engineering Institute of Radio Electronics and Communications Department of Natural Sciences Almaty Kazakhstan

ISBN: (纸本)9798350361728

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation. © 2024 IEEE.

关键词： High pass filters

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Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual

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Tsinghua Science and Technology 2024年第1期29卷 244-256页

作者： Wenjie Geng Zhiqiang Cao Peiyu Guan Fengshui Jing Min Tan Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Grasp detection plays a critical role for robot *** pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and ***,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are *** is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains ***,the channel information in high-level feature is also not well ***,the performance of grasp detection is *** solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle *** low-level and high-level features in the encoder are firstly fused by the designed skip connections with attention module,and the fused information is then propagated to corresponding layers of the decoder for in-depth feature *** a hierarchical fusion guarantees the quality of grasp ***,an inverted shuffle residual module is created,where the high-level feature from encoder is split in channel and the resultant split features are processed in their respective *** such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the ***,an information enhancement module is added before the encoder to reinforce input *** proposed method attains 98.9%and 97.8%in image-wise and object-wise accuracy on the Cornell grasping dataset,respectively,and the experimental results verify the effectiveness of the method.

关键词： grasp detection hierarchical multi-scale feature fusion skip connections with attention inverted shuffle residual

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Quantitative Analysis of Frictional Forces and their Impact on Drilling Efficiency in Aluminum Alloy Machining

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Journal of The Institution of Engineers (India): Series C 2024年第6期105卷 1591-1601页

作者： Patil, Adarsh Hebasur, Varun Iranna Mahale, Rayappa Tambrallimath, Vijay Divya, G.S. Nagraj, Banakara Kattimani, Prasanna C. School of Mechanical Engineering KLE Technological University Hubli580031 India Department of Automation and Robotics JSPMs Rajashri Shahu College of Engineering Pune India Department of Automobile Engineering Dayananda Sagar College of Engineering Bangalore560111 India Department of Mechanical Engineering Ballari Institute of Technology and Management Ballari India Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India

This study examines the intricate dynamics of friction and emphasizes how crucial it is to global energy use. Inspired by a 1493 discovery of Leonardo da Vinci, the study establishes the independence of friction force from contact area and highlights the significance of the friction coefficient as a load-related metric. The mechanical and chemical characteristics of aluminum alloys are discussed in this article along with an assessment of how well high-speed steel (HSS) drill bits work in drilling operations. Samples of aluminum are thoroughly analyzed for characteristics like yield stress, ultimate tensile strength, and elongation. The results show that aluminum makes up the majority of the sample, with trace elements like silicon and magnesium. At the same time, characteristics including Young’s modulus, thermal conductivity, and specific heat capacity are investigated for HSS drill bits, which are renowned for their durability and thermal resistance. To quantify thrust force and torque, experimental methods use a drill dynamometer built into a vertical drilling machine. Drill bits with different diameters (6 mm, 8 mm, and 12 mm) are evaluated at controlled feed rates and speeds. Accurate cutting force recording is ensured by real-time sensor data. The application of Finite Element Analysis (FEA) provides insights into how to optimize drilling processes for increased productivity and tool longevity by examining the stress distribution and deformation in drill bits under various operating situations. © The Institution of Engineers (India) 2024.

关键词： Trace elements

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Design of TeleHaptic Simulators for Various Control Architectures 4

Design of TeleHaptic Simulators for Various Control Architec...

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4th International Conference on Computing, Mathematics and engineering Technologies, iCoMET 2023

作者： Qureshi, Falaq Uddin, Riaz Ned University of Engineering and Technology Haptics Human-Robotics and Condition Monitoring Lab National Center of Robotics and Automation - Ncra HEC/PC Pakistan Department of Electrical Engineering Karachi75270 Pakistan

ISBN: (纸本)9798350335316

In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral teleoperation. They are used to analyze the results of force and distance tracking graphs in free motion and contact mode obtained from various control models by varying dynamics of master, slave, environment, and communication channel. In this regard, different force reflecting teleoperation control architectures are simulated via proposed model design, such as two-channel (2C) architectures, three-channel (3C) and finally four-channel (4C) architecture. These benchmark results are presented for each architecture via MATLAB/Simulink-based simulator. © 2023 IEEE.

关键词： Remote control

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Smart Railway Level Crossing System for Avoiding Accidents

Smart Railway Level Crossing System for Avoiding Accidents

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Mirza, Ghulam Fiza Junejo, Yahya Sameen Shaikh, Faisal Karim Chowdhry, Bhawani Shankar Shah, Ali Akbar NED University of Engineering and Technology Department of Telecommunications Karachi Pakistan Haptics Human Robotics and Condition Monitoring Lab National Center of Robotics and Automation Mehran University of Engineering and Technology Jamshoro Pakistan

ISBN: (纸本)9781665464727

In railways, one of the foremost issue is the safety of railway level crossing. Crashes related to railway level crossing lead to a great loss with respect to goods and lives. However, the existing methods used for the accidents' avoidance are manual, sensors and cameras based which possess certain drawbacks. Manual control of crossing gates is not only time-consuming but requires human labor and generate errors. Besides, camera based control systems are costly, involve experts to process the images, require human intervention, and do not provide clear images in fog/rain. On the other hand, sensors based systems have short range issues and are dependent on environmental conditions. This paper reviews the existing control systems of railway infrastructure and their classification in different countries. It then presents an automatic, novel, high range and cost-effective approach to prevent critical accidents intelligently. The novel concept avoids level crossing accidents using Internet of Things (IoT) technology. The train GPS based on-board and track controller nodes communicate to control level crossing gates and alert road users. The communication between modules (i.e., on-board train and track devices) and remote database establishes using WiFi. The review of effective communication network for critical and non-critical communication is presented with respect to mobility, capacity, coverage, availability and reliability. This research provides concept which can greatly mitigate the accidents' frequency associated with the trains, pedestrians and road vehicles on crossing using smart technologies. © 2023 IEEE.

关键词： Control systems

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Performance Analysis of Deepfake Text Detection Techniques on Social-media 2

Performance Analysis of Deepfake Text Detection Techniques o...

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2nd International Conference on Distributed Computing and Optimization Techniques, ICDCOT 2024

作者： Gaur, Adamya Singh, Sanjay Kumar Saxena, Pranshu University School of Automation & Robotics Guru Gobind Singh Indraprastha University Delhi India Abes Engineering College Department of Information Technology Ghaziabad India

ISBN: (纸本)9798350382952

In the last few years, there has been remarkable progress in the domain of natural language generation & understanding. This has led to the development of enhanced text generation capability of machines that can generate spurious text or deepfake text. The technology may be exploited to change and shape public sentiment on social media. Therefore, mechanisms to detect deepfake text is a crucial task. The study emphasizes on detection of deepfake text on social media platform X (formerly Twitter). It presents the performance of machine learning classifiers Logistic regression (LR), XGB classifier, and AdaBoost classifier, utilizing feature engineering methods Term Frequency (TF) and Term Frequency-Inverse Document Frequency (TF-IDF). Deep learning methods such as Dense Neural Networks (DNN), Bi-directional Long Short-Term Memory (Bi-LSTM), and Convolutional Neural Networks (CNN)in addition to state-of-the-art models and variants such as Bi-Directional Encoder Representations from Transformers (BERT), DistilBERT & RoBERTa are also a part of study, leading to 89.17% accuracy in deepfake text detection. © 2024 IEEE.

关键词： Long short-term memory

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Ternary SRAM Cell Designs for Next-Generation: A Comprehensive Investigation of 6T, 8T, and 10T Designs 7

Ternary SRAM Cell Designs for Next-Generation: A Comprehensi...

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7th International Conference on Circuit Power and Computing Technologies, ICCPCT 2024

作者： Bale, Ajay Sudhir Vura, Swetha Arulananth, T.S. Sai Nithin Reddy, Daggula Reddy, B. Rithvik Nithin Kumar Reddy, Nalobannagari New Horizon College of Engineering Department of Electronics and Communication Engineering Bengaluru India Impact College of Engineering and Applied Sciences Department of Automation and Robotics Bengaluru India MLR Institute of Technology Department of Electronics and Communication Engineering Telangana Hyderabad500043 India

ISBN: (纸本)9798350372816

Ternary logic is popular where it uses logic levels of 0, 1 and 2 instead of using the old binary logic structure. Due to this, it has grown to be very popular method in many applications. It is used in applications which focuses on high density data processing and also to obtain lower power consumption. The design of this SRAMs poses lot of challenges and there is a high demand for robust and optimized memory units. This work concentrates on overcoming the problems of higher power consumption that is found in traditional SRAM cells. It focusses on the comprehensive study if 6T, 8T and 10T SRAM cells. Through this study, the performance metrics are analyzed for power consumption and R/W efficiency. The results obtained shows the lower consumption of power and improved R/W efficiency. © 2024 IEEE.

关键词： Static random access storage

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Development and experimental studies of a light vehicle diesel after treatment system with DOC, DPF and urea SCR 1

Development and experimental studies of a light vehicle dies...

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1st International Conference on Materials Innovation in engineering and Technology, ICMIET 2024

作者： Thangapandian, P. Paulsingarayar, S. Chandraprakash, R. Seenivasan, S. Kannan, I. Vimal Siddeshwar, S.A. Department of Mechanical Engineering Rathinam Technical Campus Coimbatore641021 India Department of Mechanical Engineering NPR College of Engineering and Technology Dindigul Natham624401 India Department of Robotics and Automation Engineering Dhaanish Ahmed Institute of Technology Coimbatore641 105 India Department of Mechanical and Automation Engineering Sri Sai Ram Engineering College West Tambaram Chennai600 044 India

Strict adherence to pollution limits poses a risk to light-duty diesel engines due to challenges in post-treatment procedures, product limitations, and emission criteria. This paper aims to determine the underlying principles for the technological development of an after-treatment technique that incorporates a diesel oxidation catalyst (DOC), catalytic Diesel Particle Filter (DPF), urea injector, and catalytic urea selective reduction (SCR). Implementing this selective catalytic reduction (SCR) technique would greatly enhance the catalyst's ability to convert NOx by regulating the evaporation of urea and avoiding a decrease in exhaust temperature and mixing efficiencies. Moreover, the uniformity of the NH3 concentration distribution over the catalyst surface is advantageous. This study explored the concept of an electrically evaporated urea-dosing device. The investigation revealed that heated urea had a beneficial effect on improving the elimination of NOx from both continuous and intermittent motor operations before its application to the gas exhaust. The cylindrical urea evaporative heating chamber was equipped with a venturi jet that directed urea vapour down the exhaust drain. The urea solution dosing technique, administered by spraying, was a customised method more advantageous than the conventional liquid dosage system. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Selective catalytic reduction

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Exploring Innovations in Autonomous robotics and Mechatronics: Application in Manufacturing and Healthcare 5

Exploring Innovations in Autonomous Robotics and Mechatronic...

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5th International Conference on Smart Electronics and Communication, ICOSEC 2024

作者： Shalini, T.Grace Ganeshabu, L. Chemudugunta, Priyanka Yamsani, Nagendar Kumar, Ch.Ashok Athiraja, A. School of Computing Department of Computational Intelligence Chengalpattu Tamil Nadu Kattankulathur India Rajalakshmi Engineering College Department of Robotics and Automation Thandalam Mevalurkuppam Rajalakshmi Nagar Tamil Nadu Chennai India Karpaga Vinayaga College of Engineering and Technology Department of Robotics and Automation Tamil Nadu Chengalpattu India Sr University Department of School of Computer Science and Artificial Engineering Warangal India Malla Reddy Engineering College Department of Mechanical Engineering Main Campus Hyderabad Telangana Maisammaguda India Telangana Secunderabad India

ISBN: (纸本)9798331504403

Autonomous robotics and mechatronics have drastically changed the manufacturing and healthcare sectors by increasing productivity, precision, and flexibility. This work addresses the pressing need for new methods to advance these sectors by merging intelligent algorithms with autonomous systems. A hybrid strategy was employed, combining Deep Reinforcement Learning (DRL) and Adaptive Control Systems (ACS), to develop and optimize robotic operations. Extensive studies were conducted to assess the success of this strategy, which demonstrated a 25% reduction in operating expenses and a 30% increase in production efficiency in manufacturing settings. The method produced a precision rate of about 99% in the healthcare industry, which is significantly better than the 93% average of current systems. It also reduced patient recovery times by an estimated 20%. These results highlight the improved performance and promise of ACS with DRL combination in autonomous robotics, which may have revolutionary implications for the manufacturing and healthcare industries. The success, highlighted by economic and medical benefits, demonstrates the efficacy of our methodology and provides a strong platform for future developments in autonomous robotics and mechatronics. © 2024 IEEE.

关键词： Deep reinforcement learning

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