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Mechanical engineering and Robotics Research (ICMERR), International Conference on

作者： Manuel J. Fernandez Riccardo Franceschini Julian Cayero Becerra Matteo Fumagalli Department of Electrical Engineering Automation and Control Technical University of Denmark Kongens Lyngby Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola del Vallès Barcelona Spain

ISBN: (数字)9798331509262

ISBN: (纸本)9798331509279

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios.

关键词： Wireless communication Transport protocols Visualization Protocols Streaming media Throughput Real-time systems Stability analysis Reliability Robots

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Robustness of gross primary production estimation from long-term reconstructed solar-induced chlorophyll fluorescence varies with greenness on a global scale

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Journal of Applied Remote Sensing 2025年第1期19卷

作者： Fu, Lijiang Xia, Qian Tang, Hao Chen, Junqing Tan, Jinglu Guo, Ya Jiangnan University Ministry of Education Key Laboratory of Advanced Process Control for Light Industry Wuxi China Changshu Institute of Technology School of Electrical Engineering and Automation Changshu China University of Missouri Department of Chemical and Biomedical Engineering ColumbiaMO United States

Long-term reconstructed solar-induced chlorophyll fluorescence (SIF) derived from raw gridded SIF has been used for the estimation of gross primary production (GPP), but the robustness of the spatial relationship may vary from location to location. We examined the often-used linear relationship between GPP and SIF in terms of R2 values for varied locations globally using three GPP datasets (FLUXCOM, VPM, PML) and three long-term reconstructed monthly SIF datasets (CSIF, SIF005, and RTSIF). The results show that the R2 value is a concave function of vegetation greenness level (NDVI) on an annual or seasonal basis. The average R2 is over 0.8 in areas where the annual average NDVI is in the range of 0.4 to 0.6, whereas the R2 is much lower where the annual average NDVI is less than 0.2 or greater than 0.8. Prediction of GPP or SIF by three methods from five major environmental variables revealed greater uncertainties in GPP and/or SIF at low or high greenness levels as an apparent cause of the low R2. The results offer useful insights into how global GPP may be effectively estimated from multi-satellite measured SIF. © 2025 Society of Photo-Optical Instrumentation Engineers (SPIE).

关键词： Optical correlation

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Robust control Performance in Uncertain Environments: A Semi-Heuristic Gradient Descent Approach

Robust Control Performance in Uncertain Environments: A Semi...

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International Conference on Instrumentation control and automation (ICA)

作者： Mohammed Elbadri Ahmed Hassan Ahmad Irham Jambak Ismail Bayezit Mehmet Turan Soylemez Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkiye Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkiye Department of Aeronautical Engineering Istanbul Technical University Istanbul Turkiye

Designing a robust controller for systems with parameter uncertainties is a complex and demanding task. Traditional deterministic and probabilistic approaches may fall short in providing efficient and satisfactory solutions. To address this challenge, we propose a semi-heuristic approach that exploits the Kharitonov theorem to establish an initial point for the gradient descent algorithm. Through an iterative optimization process that incorporates user-defined performance criteria, our approach provide a robust controller with respect to presence of system uncertainties. Numerical simulations validate the effectiveness of our proposed method and highlight its superiority in addressing robust control problems compared with auto-tuned ΡΠ) controller.

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Graph-Based Collision Avoidance Algorithm Among Swarm Agents

Graph-Based Collision Avoidance Algorithm Among Swarm Agents

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International Symposium on Electrical and Electronics engineering (ISEEE)

作者： Akif Durdu Mesut Tuncer Berat Yıldız Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Computer Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Electrical and Electronics Engineering Karamanoglu Mehmetbey University Karaman Turkiye

More than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently in a shorter time by sharing tasks. Collision of these vehicles is among the most significant problems encountered during their work. The crash of the vehicles causes the vehicles to be out of duty and, accordingly, to the mission’s failure. In this study, Quadrotor-type UAVs used as agents can go to any target point by receiving location, speed, and compass information with GPS and IMU sensors. In the application, the agents’ locations were kept and updated in a list in pairs, similar to the traversing process in the Optimized Bubble Sort Algorithm. The projections of the velocity vectors on the agents’ axis (local) on a single coordinate plane are taken to determine the collision situation between these two agents that are traveling instantaneously. These global velocity vectors, whose projections are taken, are re-projected to the edge formed by these two agents in the graph and then subtracted from each other. Suppose the size of the vector is greater than the distance between two agents obtained by any GPS distance algorithm (Pythagoras, Haversine, etc.). In this case, collision is detected, and the separation process is activated. Separation is the process of advancing one agent in the opposite direction of the other until a minimum safe distance is achieved, where one agent entered by the user will not affect the other. Once the separation is complete, the agent moves to the final destination point.

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Design and Implementation of 1.28 Tbps DWDM based RoF system with External Modulation and Dispersion Compensation Fiber 2

Design and Implementation of 1.28 Tbps DWDM based RoF system...

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2nd International Conference on Physics and Applied Sciences, ICPAS 2021

作者： Mohsen, D.E. Hammadi, A.M. Alaskary, A.J. Department of Computer Engineering Techniques Electrical Engineering Technical College Baghdad Iraq Department of Control and Automation Technical Engineering Electrical Engineering Technical College Middle Technical University Baghdad Iraq

The improvement of 5G networks started in 2019 and is commonly accepted to bring changes not restricted to individuals' day-by-day life. The interconnection between the nodes of 5G network is realized through the utilization of optical transceiver modules and optical fibers. The most interesting part in the 5G communication network is the communication between the Central Office (CO) and the Base Station (BS), which has been widely investigated by several researchers to enhance and optimize such network performance. As a result, in this paper we demonstrate, design and implemented a) based on Dense Wavelength Division Multiplexing (DWDM Radio over Fiber (RoF) system and by using the software of Optisystem 17.1 version. Such system is considered a 32X40 Gbps of data transmission for higher speed transmission system towards the Tera bit per second (Tbps) communication. The channels of 1, 4, 8, 12, 16, 20, 24, 28 and 32 were selected as samples for the investigation. The performance analysis would be based on the parameters of the eye diagram, (Quality Factor) Q-factor and Min Bit Error Rate (BER) and for distances of 60, 120 and 180 km respectively. Analyzing results indicate a higher performance system toward the 1.28 Tbps of data rate transmission. © Published under licence by IOP Publishing Ltd.

关键词： 5G mobile communication systems

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Evaluation of the Energy Efficiency of Software Calculations in the Design of Microcontroller Devices 17

Evaluation of the Energy Efficiency of Software Calculations...

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17th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and Computer engineering, TCSET 2024

作者： Topalov, Andrii Styslo, Taras Tkach, Vitalii Peschanenko, Volodymyr Styslo, Oksana Skrypyuk, Rostyslav Admiral Makarov National University of Shipbuilding Department of computerized control systems Mykolaiv Ukraine King Danylo University Department of IT Ivano-Frankivsk Ukraine Kherson State University Department of computer science and software engineering Ivano-Frankivsk Ukraine Ivano-Frankivsk National Technical University of Oil and Gas Department of automation and computer-integrated technologies Ivano-Frankivsk Ukraine

ISBN: (纸本)9798331520564

The paper presents a study of the effectiveness of software from the point of view of minimizing the energy consumption of microprocessor devices. In this case, the programming of the microcontroller in various programming languages for arithmetic operations, as well as data output through the port, is considered. In the course of the tests, the peculiarities of the application of this or that program and their operation, taking into account the energy saving of the microcontroller, are noted. © 2024 IEEE.

关键词： Microcontrollers

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Human Following Robot Based on Object Detection for Aerospace Application 1

Human Following Robot Based on Object Detection for Aerospac...

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1st International Conference of Adisutjipto on Aerospace Electrical engineering and Informatics, ICAAEEI 2024

作者： Sumari, Arwin Datumava Wahvudi Aryandika, Ahnaf Bagus Purnami, Ndaru Atmi Dermawan, Denny Syamsiana, Ika Noer State Polytechnic of Malang Cognitive Artificial Intelligence Research Group Department of Electrical Engineering Malang Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Aerosp. Digit. Syst. Microprocessor Microcontroller and Programmable Logic Devices Research Group Yogyakarta Indonesia

ISBN: (纸本)9798331507930

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications. © 2024 IEEE.

关键词： Travel time

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AI-Embedded Motion Sensors for Sports Performance Analytics

AI-Embedded Motion Sensors for Sports Performance Analytics

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International Conference on Micro/Nano Sensors for AI, Healthcare, and Robotics (NSENS)

作者： Xiaodong Yu Yushen Chai Meng Chen Guanglie Zhang Fei Fei Yuliang Zhao Wen Jung Li Department of Mechanical Engineering City University of Hong Kong Hong Kong China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao China

ISBN: (数字)9798350375213

ISBN: (纸本)9798350375220

Motion sensing technology is widely used in healthcare, sports, consumer electronics, etc. On the other hand, Artificial intelligence (AI) enables the development of wearable sensors that can recognize and analyze human motions. In this study, we developed a wearable wireless motion sensing system with AI-embedded inertial measurement units (AIMUs), combined with visual analysis, to evaluate and optimize athletes’ performance in sports such as gymnastics. In the experiment, a gymnast performed an entire vaulting routine while wearing 11 AIMUs, and the motion data were transmitted to a cloud server through Bluetooth gateways. This system can achieve the segmentation of vaulting phases and the evaluation of detailed movements. The experimental results showed a 4.57% estimation error in flight height. This AI-embedded motion sensor system has the potential to provide an intuitive and easy-to-understand way to present athlete performance to coaches and athletes themselves. Furthermore, its continued development could assist athletes’ training, provide quantitative sports performance indicators, significantly improve elite athletes’ training efficiency, and monitor their health regularly.

关键词： Training Wireless communication Wireless sensor networks Visualization Medical services Robot sensing systems Motion detection

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiaohan Zhu Ran Bu Zhen Li Fan Xu Hesheng Wang Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Artificial Intelligence Research Institute and School of Information and Control Engineering China University of Mining and Technology

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works).

关键词： Three-dimensional displays Accuracy Shape Force Time series analysis Estimation Surgery Soft robotics Pulse width modulation Real-time systems

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A Knowledge-driven Cross-modal Memory Network for Radiology Report Generation

A Knowledge-driven Cross-modal Memory Network for Radiology ...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Fan, Junyan Wang, Jing Zhou, Meng Zhang, Yanzhu Shi, Mingyu North China University of Technology School of Electrical and Control Engineering Beijing China Shenyang Ligong University School of Automation and Electrical Engineering Shenyang China The Fourth Affiliated Hospital of China Medical University Eye Hospital of China Medical University The Key Laboratory of Lens in Liaoning Province Shenyang Department of Ophthalmology China

ISBN: (纸本)9798350337754

In previous studies, most work focused on generating high-quality reports by smoothing the alignment between cross-modal mappings. However, a common problem with current radiology report generation methods is that they ignore the interactions and connections between various medical findings that are critical to medical discovery. To overcome this problem, we propose a knowledge-driven cross-modal memory network. The network is built by data mining clinical reports and constructing knowledge graphs and their corresponding adjacency matrices based on the mined a prior knowledge. Combining information after graphical interaction through a cross-modal memory network with a knowledge graph adjacency matrix. Finally the Transformer generates a full report. Experiments have demonstrated that reports generated from cross-modal memory network models that incorporate prior knowledge are more clinically informative. © 2023 IEEE.

关键词： Knowledge graph

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