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Design of a Mechatronic Endoskeleton Robot for Inspection Tasks: Model Reference Adaptive control (MRAC) for Serpentine Locomotion with Stability Analysis 17

Design of a Mechatronic Endoskeleton Robot for Inspection Ta...

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17th International Conference on Developments in eSystems engineering, DeSE 2024

作者： Al Mhdawi, Ammar K. Wright, Nick Younis, Mohammed I. Humaidi, Amjad J. School of Engineering and Sustainable Development De Montfort University LeicesterLE19BH United Kingdom Department of Electrical and Electronic Engineering Newcastle University Newcastle United Kingdom Department of Computer Engineering University of Baghdad Iraq Department of Control and Systems Engineering University of Technology Baghdad Iraq

ISBN: (纸本)9798350368697

An advantage of bio-inspired robots is the versatility of their locomotion on a wide range of terrains that conventional robots are not able to traverse. The snake-like robot, which is a mechanism designed to move in the manner of a biological snake, is an example of a bio-inspired platform. This paper aims to implement and validate, using real and simulation tests on flat terrain, a snake-like endoskeleton robot that permits serpentine movement with adaptive control capabilities. The prototype mechatronic robot was comprised of eleven segments that were 3D printed sequentially. A simulation using Matlab’s Multibody Mechanics tool determines the necessary torques for each motor. In this simulation, a parameterized virtual model of the robot is created, where rectilinear gaits are programmed. In accordance with simulation and experimental results, the robot undertakes different times to reach the goal trajectory or end points depending on the frequency, angular position, and wave length (duty cycle). As a result, there is a high degree of similarity between the simulation tests and those conducted with the prototype endoskeleton. Furthermore, the robot is equipped with machine vision capabilities that allow it to detect faults within oil and gas pipes for the purpose of inspection and maintenance. Furthermore, a Model Reference Adaptive control (MRAC) method based on Lyapunov stability analysis and MIT rules is proposed. The theoretical analysis and numerical simulation show that the designed trajectory tracking control law can make the multi-joint snake-like robot track the trajectory of the front joint when the robot encounters disturbances and stabilize the angular position and velocity of the first two head joints when disturbances occur. © 2024 IEEE.

关键词： Model reference adaptive control

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Description and comparison of fault detection algorithms based on a selected building automation device

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第3期73卷

作者： Wlostowska, Sandra Kawa, Bartlomiej Borkowski, Piotr Department of Electrical Apparatus Faculty of Electrical Electronics Computer and Control Engineering Lodz University of Technology Lódź Poland

The article compares selected classification algorithms and those dedicated to anomaly detection. The models used temperature measurements in four rooms simulated in the MATLAB Simscape environment as test signals. The empirical part of the work consists of two parts. In the first one, an example data from the simulated building heating model object, models were built using unsupervised and supervised machine learning algorithms. Then, data from the facility was collected again with changed parameters (failures occurred at times other than the test ones, and the temperature patterns differed from those recorded and used to train the models). The algorithm effects and test signals (temperature changes) were saved in the database. The results were presented graphically in the Grafana program. The second part of the work presents a solution in which the analysis of the operating status of the heating system takes place in real time. Using an OPC server, data was exchanged between the MATLAB environment and the database installed on a virtual machine in the Ubuntu system. The conclusions present the results and collect the authors’ suggestions regarding the practical applications of the discussed classification models. © 2025 The Author(s).

关键词： Support vector machines

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Automated Surface Cleaning Evaluation Algorithm 12

Automated Surface Cleaning Evaluation Algorithm

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12th International electrical engineering Congress, iEECON 2024

作者： Yamnaiyana, Pichate Singhawan, Pongpisut Skuntaniyom, Sumawadee Lee, Wilaiporn Mahatthanajatuphat, Chatree Srisomboon, Kanabadee King Mongkut's University Of Technology North Bangkok Department Of Electrical And Computer Engineering Faculty Of Engineering Bangkok Thailand Infection Prevention And Control Services Faculty Of Medicine Ramathibodi Hospital Mahidol University Bangkok Thailand

ISBN: (纸本)9798350383591

To avoid micro-organisms spreading in hospitals, hand hygiene and hospital environment disinfection and cleaning is considered to prevent the infections. Therefore, CDC provides hand hygiene and surface cleaning evaluation methods to ensure that source of micro-organisms is disposed. Basically, the surface cleaning is evaluated by the cleaning evaluator who identifies the unclean area through the brightness area of fluorescent marker shined by blacklight under a dark room. However, the evaluation errors may occur if the determine surface is barely clean where the fluorescent marker is not completely removed. Moreover, it is very difficult to meet the same evaluation standard if the evaluation is done by human estimation. In addition, it takes long evaluation time via visual evaluation. In this paper, we propose an automated surface cleaning evaluation algorithm that evaluates the surface cleaning automatically by extracting the color image component, blue, which is noticeably bright under the blacklight characteristic. In the experiment, we compare the performance of the proposed algorithm using blue component to other image components. As a result, the proposed algorithm shows the highest accuracy determined by the experienced cleaning evaluator. Moreover, the proposed algorithm shows 4.384 times faster of surface cleaning detection than cleaning evaluator. © 2024 IEEE.

关键词： Image processing

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Characterization and Trading of Energy Level and Energy Shift Considering Virtual Power Plant

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Journal of Modern Power Systems and Clean Energy 2022年第6期10卷 1784-1789页

作者： Shuai Fan Jucheng Xiao Zuyi Li Guangyu He Key Laboratory of Control of Power Transmission and Conversion Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China Department of Electrical and Computer Engineering Illinois Institute of TechnologyChicagoIL 60616USA

The capability of shifting the electricity generation or consumption to proper time of the day,also defined as energy shift(ES),is the key factor to ensure the power balance,especially under high penetration of variable renewable energy(VRE).However,the ES is not characterized and traded as an independent product in current market *** this letter,the marginal utility of an ES is assessed and leveraged to characterize the effective ES,while a novel market scheme is proposed considering the trading of both ES and energy level(EL).The proposed scheme can well integrate ES producers such as virtual power plants that cannot be rewarded sufficiently to actively participate in the current market because they are principally labeled as EL ***,the novel concept and mechanism are illustrated by a numerical study and verified to outperform the existing price schemes on integrating the ES resources and VRE.

关键词： Energy level energy shift variable renewable energy virtual power plant marginal utility

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A Real-time Approach for Multi-physics Field Reconstruction of Active Phased Array Antenna

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IEEE Transactions on Antennas and Propagation 2025年第6期73卷 3585-3592页

作者： Feng, Shizhe Chen, Qihang Li, Zhixiong Sotelo, Miguel Angel The State Key Laboratory of Reliability and Intelligence of Electrical Equipment Hebei University of Technology Tianjin300130 China The Faculty of Mechanical Engineering Opole University of Technology Opole45-758 Poland The Department of Computer Engineering University of Alcalá Madrid28801 Spain

This study proposes an effective approach to reconstruct the multi-physics field of the active phased array antenna (APAA) through limited information of temperature and strain. First, the multi-physics coupling model of the APAA is constructed to analyze the thermal-mechanical-electromagnetic responses;the model calculation accuracy is verified by experimental testing. Then, a large number of samples containing the temperature and deformation information are generated through the coupling model. Subsequently, the multi-physics field reconstruction model is established based on the extreme gradient boosting (XGBoost) method, in which the parallelization computing is implemented to fully improve the prediction efficiency. Lastly, the testing samples are used to evaluate the performance of the reconstruction model. The obtained results indicate that the developed model is able to reconstruct the multi-physics field of the APAA in real time more precisely through comparing with existing machine learning methods. This approach can provide reliable temperature and displacement reconstruction information for the compensation of the APAA electromagnetic performance. © 1963-2012 IEEE.

关键词： Antenna phased arrays

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Cancelable Speaker Identification System Based on Optical-Like Encryption Algorithms

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computer Systems Science & engineering 2022年第10期43卷 87-102页

作者： Safaa El-Gazar Walid El-Shafai Ghada El-Banby Hesham F.A.Hamed Gerges M.Salama Mohammed Abd-Elnaby Fathi E.Abd El-Samie Department of Electrical Engineering Faculty of EngineeringEgyptian-Russian UniversityCairoEgypt Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Computer Engineering College of Computers and Information TechnologyTaif UniversityTaif21944Saudi Arabia Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia

Biometric authentication is a rapidly growing trend that is gaining increasing attention in the last *** achieves safe access to systems using biometrics instead of the traditional *** utilization of a biometric in its original format makes it usable only ***,a cancelable biometric template should be used,so that it can be replaced when it is *** biometrics aims to enhance the security and privacy of biometric *** encryption is an efficient technique to be used in order to generate cancelable biometric *** this paper,a highly-secure encryption algorithm is proposed to ensure secure biometric data in verification *** considered biometric in this paper is the speech *** speech signal is transformed into its ***,the spectrogram is encrypted using two cascaded optical encryption *** first algorithm is the Optical Scanning Holography(OSH)for its efficiency as an encryption *** OSH encrypted spectrogram is encrypted using Double Random Phase Encoding(DRPE)by implementing two Random Phase Masks(RPMs).After the two cascaded optical encryption algorithms,the cancelable template is *** verification is implemented through correlation estimation between enrolled and test templates in their encrypted *** the correlation value is larger than a threshold value,the user is *** threshold value can be determined from the genuine and imposter correlation distribution curves as the midpoint between the two *** implementation of optical encryption is adopted using its software rather than the optical *** efficiency of the proposed cancelable biometric algorithm is illustrated by the simulation *** can improve the biometric data security without deteriorating the recognition *** results give close-to-zero This values for the Equal Error Rate(EER)and close-to-one values for the Area under Receiver Operator Charact

关键词： Cancelable biometrics spectrogram OSH DRPE EER AROC

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Tabular Dyna-Q Algorithm for Online Calculation of LQR Gains: A Simulation Study 9

Tabular Dyna-Q Algorithm for Online Calculation of LQR Gains...

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9th International Conference on engineering and Emerging technology, ICEET 2023

作者： Farooghi, Kian Samadi, Mahdieh Khaloozadeh, Hamid K. N. Toosi University of Technology Department of Systems and Control Tehran Iran University of Tabriz Faculty of Electrical and Computer Engineering Tabriz Iran

ISBN: (纸本)9798350316926

This paper presents a novel approach for the online calculation of Linear Quadratic Regulator (LQR) gains using the Tabular Dyna-Q algorithm. By leveraging Q-learning, this technique enables the determination of gains for unknown dynamic systems by using input-output data only. The proposed algorithm is particularly advantageous for situations where acquiring input-output data is expensive or time-consuming, as it effectively reduces computation time by reusing previous data. To validate the accuracy of the calculations and control scheme, a simulation example is provided. The results indicate the effectiveness of the Tabular Dyna-Q algorithm in accurately computing LQR gains and its potential application in real-world scenarios. This research contributes to advancing the field of control theory by offering an efficient and reliable method for online gain calculation in dynamic systems. © 2023 IEEE.

关键词： Reinforcement learning

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EOG acquisition system based on ATmega AVR microcontroller

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Journal of Ambient Intelligence and Humanized Computing 2023年第12期14卷 16589-16605页

作者： Abdel-Samei, Abdel-Gawad A. Shaaban, Abdel-Salam Brisha, Ayman M. El-Samie, Fathi E. Abd Ali, Ahmed S. Department of Electronics Technology Faculty of Technology and Education Beni-Suef University Beni-Suef Egypt Department of Process of Control Technology Faculty of Technology and Education Beni-Suef University Beni-Suef Egypt Department of Mechanical Engineering Mechatronics Division Faculty of Engineering Assiut University Assiut Egypt Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

This paper presents a hardware and software of an electrooculogram (EOG) acquisition system based on ATmega AVR microcontroller for the acquisition of vertical and horizontal eye movements. The presented system is used to acquire a dataset of eye movements for volunteers. This system gives two channels representing vertical and horizontal EOG signals. The frequency range of the EOG signal is known to be 0.1 to 10 Hz, and hence this frequency range is isolated with a High-Pass Filter (HPF) with a cutoff frequency of 0.1 Hz followed by a Low-Pass Filter (LPF) with a cutoff frequency of 10 Hz. The EOG acquisition system is interfaced with an ATmega AVR microcontroller to acquire a dataset that can be used for controlling hardware such as Light Emitting Diodes (LEDs), wheelchair, and robot arm. The presented system is composed of EOG signal acquisition, Ag/AgCl electrodes, analog-to-digital converter through Arduino Mega 2560 board microcontroller unit, trainer board, laptop, keypad, and Liquid Crystal Display (LCD). The eye movement is detected by measuring the potential difference between cornea and retina using five Ag–Agcl disposable electrodes. Different volunteers of different ages at different times have been treated with the presented system to obtain data. Classified vertical and horizontal EOG signals and the basic eye movements e.g., open eye, left, right, up, and down can be used to control robots and wheelchairs for rehabilitation purposes. © 2023, The Author(s).

关键词： Electrodes

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The Use of Various Neurostimulators in Therapy of Neurodegenerative Disorders - A Survey

The Use of Various Neurostimulators in Therapy of Neurodegen...

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2022 Progress in Applied electrical engineering, PAEE 2022

作者： Kawala-Sterniuk, Aleksandra Gajos, Agata Pawlowski, Mateusz Libionka, Witold Duch, Wladyslaw Piotr Panczyszak, Bartosz Stomal-Slowinska, Monika Podpora, Michal Bauer, Waldemar Sudol, Adam Pelc, Mariusz Zygarlicki, Jaroslaw Sterniuk, Piotr Automatic Control and Informatics Opole University of Technology Faculty of Electrical Engineering Opole Poland "vital Medic" Hospital Department of Neurosurgery Kluczbork Poland Medical University of Lódź Department of Extrapyramidal Diseases Lódź Poland Wroclaw Medical University Faculty of Health Sciences Wroclaw Poland University of Opole Faculty of Natural Sciences and Technology Opole Poland Opole University of Technology Center for Technology Transfer Opole Poland

ISBN: (纸本)9781665455152

The use of neurostimulators in the treatment and therapy of neurodegenerative diseases is an alternative to pharmacological treatment. Unfortunately, most of these disorders are incurable, however, the use of neurostimulators can delay the onset of symptoms, the course of the disease and significantly improve the quality of life. Treatment with the use of neurostimulators also allows you to avoid side effects which usually accompany pharmacotherapy, or in order to replace it when prescribed medication is not working properly or not working at all. This paper focuses mainly on vagus nerve and deep brain stimulation. © 2022 IEEE.

关键词： Biomedical engineering

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Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced control Applications

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 18-36页

作者： Ding Wang Ning Gao Derong Liu Jinna Li Frank L.Lewis IEEE the Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protectionand Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China the Department of Electrical and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA the School of Information and Control Engineering Liaoning Petrochemical UniversityFushun 113001China the UTA Research Institute the University of Texas at ArlingtonArlington TX 76118 USA

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, ***, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation ***, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

关键词： Adaptive dynamic programming(ADP) advanced control complex environment data-driven control event-triggered design intelligent control neural networks nonlinear systems optimal control reinforcement learning(RL)

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