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Symposium on Integrated Circuits and systems Design (SBCCI)

作者： Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Systems Graduate Program Automation and Control Group/GRACO Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field Programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.

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Achieving of magnus effect with agros suite

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 131-137页

作者： Lukin, Aleksandr Demidova, Galina Rassõlkin, Anton Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia Department of Electrical Power Engineering and Mechatronics School of Engineering Tallinn University of Technology 5 Ehitajate tee Tallinn19086 Estonia

When the rotating body gets into the ambiance flow appears the lifting force, called Magnus Effect. That lifting force may be controlled by changing the revolution speed of the body. That phenomenon uses in many engineering applications like wind turbines and marine ships. In this paper, the Magnus Effect simulation is achieved with Agros Suite, a multiplatform application for the solution of physical problems. The article presents the nature of the Magnus Effect and discusses possible applications in engineering. The research question is focused on demonstrating the Magnus Effect with Agros Suite and evaluating the computational power of the personal computer that runs the simulation. The simulation is made keeping in mind the possible application of the Agros Suite tools for Magnus-Effect-based wind generator control algorithms optimization. The simulation result analysis shows that Agros Suite is a reliable tool in accessing and simulation of such phenomena. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Personal computers

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Dc Leakage Current in Isolated Grid-Connected dc Nanogrid - Origins and Elimination Methods

Dc Leakage Current in Isolated Grid-Connected dc Nanogrid - ...

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Compatibility in Power Electronics (CPE)

作者： Mohammadreza Azizi Oleksandr Husev Oleksandr Veligorskyi Marek Turzvński Ryszard Strzelecki Department of Radiotechnic and Embedded Systems Chernihiv Polytechnic National University Chernihiv Ukraine Department of Electric Electronic and Automation Engineering University of Extremadura Badajoz Spain Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798350318265

ISBN: (纸本)9798350318272

The LV dc system is a relatively new trend in the distribution sector, which seems to grow widely in the near future due to its promising advantages. In this context, LV dc protection and grounding are challenging issues. Although the galvanically isolated connection mode of dc nanogrid to the ac grid has high reliability, the leakage current can still be injected into the ac grid through the interwinding capacitors and the insulation resistance between the primary and secondary windings of the transformer. The way of grounding the dc nanogrid can also be a determining factor in the leakage current and its dc components. This study deals with the leakage current in the galvanically isolated dc nanogrid. Then, it examines the dc leakage current and its relationship with the dc nanogrid grounding and finally provides solutions to remove the dc components in the leakage current.

关键词： Resistance Insulation Grounding Simulation Windings Capacitors Leakage currents

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Intelligent On-Line System for Monitoring Technical Condition of High-Voltage Cable Couplings

Intelligent On-Line System for Monitoring Technical Conditio...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Vadim R. Gasiyarov Stanislav V. Voronin Andrey A. Radionov Ivan V. Lyubimov Sergey A. Evdokimov Vadim R. Khramshin Department of Automation and Control Moscow Polytechnic University Moscow Russia Department of Mechatronics and Automation South Ural State University Chelyabinsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

The article provides the characteristics of the end cable couplings of the closed switchgear 110 kV at the electric steelmaking workshop of the metallurgical plant. The functions of the continuous technical condition monitoring system are substantiated, including continuous temperature monitoring and on-line registration of partial discharges in the insulation. The first function provides monitoring of the operational load, and the second has the maximum sensitivity for diagnosing defect propagation. A functional diagram of the developed intelligent on-line system for monitoring technical condition with digital signal transmission is provided. The choice of sensors and processor unit is justified. The authors consider the temperature control system of high-voltage equipment “WDM-T”, including a wireless sensor and an information receiver. The results of monitoring the thermal regime are provided, the advantages of partial discharge analysis are pointed out. The temperature trends of the end couplings included in the cable line phases are considered. The system is implemented on the closed switchgear 110 kV end couplings, its long-term operation has confirmed the effectiveness of technical condition monitoring. The developed system may be a component of an on-line cyberphysical system for monitoring the condition of high-voltage equipment in the electric steelmaking workshop.

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Simplistic refinement of self-supervised feature representations for classification of Brain strokes using contrastive learning on CT Images

Simplistic refinement of self-supervised feature representat...

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control Instrumentation System Conference (CISCON)

作者： Mahesh Anil Inamdar Anjan Gudigar Raghavendra U Raja Rizal Azman Bin Raja Aman Nadia Fareeda Binti Muhammad Gowdh Izzah Amirah Banti Mohd Ahir Ajay Hegde Department of Mechatronics Manipal Institute of Technology Manipal Academy of Higher Education Manipal Karnataka India Department of Instrumentation & Control Engineering Manipal Institute of Technology Manipal Academy of Higher Education Manipal Karnataka India Department of Biomedical Imaging Faculty of Medicine Universiti Malaya Malaysia Department of Biomedical Imaging Universiti Malaya Malaysia Consultant Neurosurgeon Manipal Hospitals

ISBN: (数字)9798350375480

ISBN: (纸本)9798350375497

The procedure for determining the cause of strokes makes heavy use of Computed Tomographic (CT) images. The existing methods try different Machine Learning (ML) based methods but haven’t so far explored the self-supervised learning approach. In this study we have showcased a simple technique for improving the feature representation generated using Deep Learning (DL) models through self-supervised technique. We utilized (triplet) loss for generating different embeddings for normal and acute stroke cases and developed a simple strategy to improve the same for better differentiability. We showcase this refining technique, which improves discriminability and able to classify using simple ML model. The results are tested against various DL models for better generality with the best begin ResNet101 with 95.16% accuracy. We also compared the results based on different levels of refinement based on their architecture. Hence, the proposed system can be used in hospitals to analyze brain CT images.

关键词： Deep learning Hospitals Computed tomography Instruments Computational modeling Refining Contrastive learning Computer architecture Brain modeling control systems

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Towards Evaluating the Security of Wearable Devices in the Internet of Medical Things

arXiv

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arXiv 2023年

作者： Vaseghi, Yas Behara, Behnaz Delrobaei, Mehdi Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Biomedical Engineering Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Mechatronics Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

The Internet of Medical Things (IoMT) offers a promising solution to improve patient health and reduce human error. Wearable smart infusion pumps that accurately administer medication and integrate with electronic health records are an example of technology that can improve healthcare. They can even alert healthcare professionals or remote servers during operational failure, preventing distressing incidents. However, as the number of connected medical devices increases, the risk of cyber threats also increases. Wearable medication devices based on IoT attached to patients' bodies are prone to significant cyber threats. Being connected to the Internet exposes these devices to potential harm, which could disrupt or degrade device performance and harm patients. To ensure patient safety and well-being, it is crucial to establish secure data authentication for internet-connected medical devices. It is also important to note that the wearability option of such devices might downgrade the computational resources, making them more susceptible to security risks. This paper implements a security approach to a wearable infusion pump. We discuss practical challenges in implementing security-enabled devices and propose initial solutions to mitigate cyber threats. © 2023, CC BY-NC-ND.

关键词： Wearable technology

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Towards Evaluating the Security of Wearable Devices in the Internet of Medical Things

Towards Evaluating the Security of Wearable Devices in the I...

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RSI/ISM International Conference on Robotics and mechatronics (ICROM)

作者： Yas Vaseghi Behnaz Behara Mehdi Delrobaei Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Biomedical Engineering Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Mechatronics Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

The Internet of Medical Things (IoMT) offers a promising solution to improve patient health and reduce human error. Wearable smart infusion pumps that accurately administer medication and integrate with electronic health records are an example of technology that can improve healthcare. They can even alert healthcare professionals or remote servers during operational failure, preventing distressing incidents. However, as the number of connected medical devices increases, the risk of cyber threats also increases. Wearable medication devices based on IoT attached to patients’ bodies are prone to significant cyber threats. Being connected to the Internet exposes these devices to potential harm, which could disrupt or degrade device performance and harm patients. To ensure patient safety and well-being, it is crucial to establish secure data authentication for internet-connected medical devices. It is also important to note that the wearability option of such devices might downgrade the computational resources, making them more susceptible to security risks. This paper implements a security approach to a wearable infusion pump. We discuss practical challenges in implementing security-enabled devices and propose initial solutions to mitigate cyber threats.

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Nonlinear Model Predictive control for Autonomous Sailboat with Optimization of Sail Angle

Nonlinear Model Predictive Control for Autonomous Sailboat w...

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OCEANS

作者： Junzhuo Wu Ya-Jun Pan Chao Shen Sean Smith Emmanuel Witrant Department of Mechanical Engineering Advanced Control and Mechatronics Lab Dalhousie University Halifax Canada Department of Systems and Computer Engineering Carleton University Ottawa Canada GIPSA-lab Université Grenoble Alpes-CNRS Grenoble France Departement of Mechanical Engineering Dalhousie University Halifax Nova Scotia Canada

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

This paper studies trajectory tracking control problems of sailing vessels using a nonlinear model predictive control (NMPC) approach with a novel sail angle optimization approach. The proposed sail angle optimization method accounts for physical constraints during practical implementation such as operational sail angle bound and rate of change in sail angles. This technique also emphasizes the potential to use the sail to plan a safe trajectory, while a simple proportional-derivative (PD) controller is used for rudder angle regulation. The NMPC is implemented for trajectory tracking control in the simulation. Results show that the proposed controller can achieve excellent tracking performance in the presence of environmental disturbances in terms of ocean waves.

关键词： Trajectory tracking Oceans Optimization methods Ocean waves Predictive models Regulation Trajectory PD control Predictive control

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Efficient Hybrid Multi-Population Genetic Algorithm for Multi-UAV Task Assignment in Consumer Electronics Applications

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IEEE Transactions on Consumer Electronics 2025年

作者： Bai, Xiaoshan Jiang, Haoyu Li, Chao Ullah, Inam Dabel, Maryam M. Al Bashir, Ali Kashif Wu, Zongze Sam, Shuzhi Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen University Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan University of Hafr Al Batin Department of Computer Science and Engineering College of Computer Science and Engineering Saudi Arabia Manchester Metropolitan University Manchester United Kingdom Shenzhen518060 China National University of Singapore Department of Electrical and Computer Engineering Singapore117576 Singapore

In recent years, as people’s living standards have improved and consumption concepts have been transformed, the demand for purchasing consumer electronics online has continued to grow, further stimulating the development of the logistics industry. Consequently, how to deliver consumer electronics to households at minimal cost has become a crucial factor that limits the development of the consumer technology industry. To tackle this problem, this paper studies the task assignment problem for multiple initially dispersed UAVs to deliver products to target locations while minimizing their total operation time. Each UAV can continuously provide delivery services to multiple target locations within its limited loading capacity and operation time. To solve this problem, we propose several hybrid multipopulation genetic algorithms. First, a novel crossover operator for the genetic algorithms is designed, through which a single parent chromosome can generate offspring individually. Second, two mutation mechanisms are performed to increase gene diversity. Third, multiple local search strategies are employed to enhance the populations’ fitness during each iteration of evolution. An improved 2-opt local search strategy is applied to optimize individual chromosomes when their similarity with the current best chromosome falls below a prescribed threshold. Alternatively, local search strategies are utilized for 1-opt, 2h-opt and interchange processes. Combining local search strategies, genetic operators, and the multi-population mechanism leads to several hybrid multi-population genetic algorithms. Numerical simulations and experimental tests demonstrate that the hybrid multi-population genetic algorithm, integrated with the improved 2-opt and 1-opt local search strategies, exhibits superior performance among the designed hybrid genetic algorithms, the minimum marginal cost algorithm (MMA), and the existing popular Co-evolutionary Multi-population Genetic Algorithm (CMGA). In exp

关键词： Genetic algorithms

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