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Optimization of Weighted Voronoi-based Workspace Partitioning for Fleet of Autonomous Tractors: A Simulation Study

Journal of Institute of Control, Robotics and systems 2024年第11期30卷 1198-1205页

作者： Kim, Changjo Son, Hyoung Il Department of Convergence Biosystems Engineering Chonnam National University Korea Republic of Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Korea Republic of Research Center for Biological Cybernetics Chonnam National University Korea Republic of

The automation of agricultural systems is essential for improving productivity and ensuring sustainable food production, and the introduction of autonomous tractors represents a significant advancement in agricultural automation. In this paper, we propose a method for optimizing workspace partitioning based on a weighted Voronoi diagram for fleet of autonomous tractors. The proposed method (1) acquires an image through UAV (Unmanned Aerial Vehicle) for the entire workspace and generates a node map for partitioning the workspace. (2) To calculate the center point of the workspace to be partitioned on the generated node map, the center point is calculated using the K-means clustering algorithm. (3) The workspace is differentially partitioned through the voronoi diagram algorithm and the performance-based weights for each tractor. (4) In order to minimize the deviation of task time, the workspace partitioning is optimized by adjusting the weights to reflect their relative importance. The proposed approach was validated through simulation. A comparison of the results before and after the optimization reveals a reduction in task time deviation. The results of the study indicate that optimized partitioning of the workspace can significantly enhance the operational efficiency of fleet of autonomous tractors, thereby improving agricultural productivity. © ICROS 2024.

关键词： Unmanned aerial vehicles (UAV)

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A Prioritized Path Planning Algorithm for Heterogeneous Agricultural Robot Team

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Journal of Institute of Control, Robotics and systems 2024年第6期30卷 634-642页

作者： Jo, Yuseung Son, Hyoung Il Department of Convergence Biosystems Engineering Chonnam National University Korea Republic of Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Korea Republic of Research Center for Biological Cybernetics Chonnam National University Korea Republic of

In this paper, we propose a prioritized path planning algorithm applicable to heterogeneous agricultural robot team. This team comprises of multiple agricultural robots based on unmanned ground vehicles. The proposed algorithm is based on the traditional multi-agent path finding algorithm and considers varying robot priorities. The scalability and completeness of the algorithm are validated via simulations. The proposed algorithm is evaluated in scenarios occurring during representative agricultural tasks such as harvesting and transportation. A cooperative multi-robot system is configured to respond to the unstructed agricultural environment. In the experiment, the change in travel distance and time is confirmed based on priority. Specifically, the results revealed that the paths followed by agent 1, which was assigned the highest priority in the face and crossover scenario and orchard environment, are shortened considerably (3.6, 5.6, and 19.1 m respectively). Especially in the face scenario, the sum of the changes in distance, calculated using the proposed algorithm is negative, indicating that traffic congestion within this multi-robot system is alleviated without the need for inter-robot communication. © ICROS 2024.

关键词： Motion planning

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PID Controller Design for a Mechatronic System using Lion Optimization Algorithm 5

PID Controller Design for a Mechatronic System using Lion Op...

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5th National and the 1st International Conference on Applied Research in Electrical engineering, AREE 2025

作者： Safdari, Amirhossein Mansouri, Amirhosein Fazli, Mohammad Javad Zarafshan, Payam Alipour, Khalil Tarvirdizadeh, Bahram College of Interdisciplinary Science and Technology University of Tehran School of Intelligent Systems Department of Mechatronics Engineering Tehran Iran Shahid Beheshti University Faculty of Mechanical and Energy Engineering Department of Renewable Energy Engineering Tehran Iran University of Tehran School of Mechanical Engineering College of Engineering Tehran Iran Western Sydney University School of Engineering Design and Built Environment Sydney Australia

ISBN: (纸本)9798350377170

Controllers act as a bridge between the operator and the system, allowing the operator to communicate with the system as if it were a human. In other words, the controller is like the thinking brain of an industrial process. A controller communicates all the commands that an expert wants to apply to the system to follow its standard flow process and ultimately achieve the desired response. When industrial processes are left alone and without a controller in the control loop, they typically do not give satisfactory responses in terms of transient or steady-state characteristics. Therefore, the selection and programming of an appropriate controller is one of the most important steps in an industrial process. One of the most widely used and well-known controllers is the PID controller, whose gains are often determined experimentally or through trial and error. However, finding the optimal gains is always a challenge. In this study, for the first time, the optimal gains of the PID controller are determined using Lion Optimization Algorithm (LOA). This research has introduced a systematic and efficient approach to achieving optimal control of mechatronic systems. © 2025 IEEE.

关键词： Three term control systems

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Dragging 3D printing technique controls pore sizes of tissue engineered blood vessels to induce spontaneous cellular assembly

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Bioactive Materials 2024年第1期31卷 590-602页

作者： Hun-Jin Jeong Hyoryung Nam Jae-Seok Kim Sungkeon Cho Hyun-Ha Park Young-Sam Cho Hyungkook Jeon Jinah Jang Seung-Jae Lee Department of Mechanical Engineering Wonkwang University54538IksanRepublic of Korea Department of Convergence IT Engineering Pohang University of Science and Technology37673PohangGyeongbukRepublic of Korea Department of Mechanical and Design Engineering Wonkwang University54538IksanRepublic of Korea Department of Mechanical Engineering Pohang University of Science and Technology37673PohangGyeongbukRepublic of Korea School of Interdisciplinary Bioscience and Bioengineering Pohang University of Science and Technology37673PohangGyeongbukRepublic of Korea Institute of Convergence Science Yonsei University03722SeoulRepublic of Korea Regenerative Engineering Laboratory Columbia University630W 168th STNew York10032USA Department of Manufacturing Systems and Design Engineering Seoul National University of Science and Technology01811SeoulRepublic of Korea

To date,several off-the-shelf products such as artificial blood vessel grafts have been reported and clinically tested for small diameter vessel(SDV)***,conventional artificial blood vessel grafts lack endothelium and,thus,are not ideal for SDV transplantation as they can cause *** addition,a suc-cessful artificial blood vessel graft for SDV must have sufficient mechanical properties to withstand various external ***,we developed a spontaneous cellular assembly SDV(S-SDV)that develops without additional *** improving the dragging 3D printing technique,SDV constructs with free-form,multilayers and controllable pore size can be fabricated at ***,The S-SDV filled in the natural poly-mer bioink containing human umbilical vein endothelial cells(HUVECs)and human aorta smooth muscle cells(HAoSMCs).The endothelium can be induced by migration and self-assembly of endothelial cells through pores of the SDV *** antiplatelet adhesion of the formed endothelium on the luminal surface was also *** addition,this S-SDV had sufficient mechanical properties(burst pressure,suture retention,leakage test)for *** believe that the S-SDV could address the challenges of conventional SDVs:notably,endothelial formation and mechanical *** particular,the S-SDV can be designed simply as a free-form structure with a desired pore *** endothelial formation through the pore is easy even in free-form con-structs,it is expected to be useful for endothelial formation in vascular structures with branch or curve shapes,and in other tubular tissues such as the esophagus.

关键词： Small diameter vessel Dragging 3D printing Pore control Spontaneous cellular assembly

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Surface modification techniques of membranes to improve their antifouling characteristics:recent advancements and developments

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Frontiers of Chemical Science and engineering 2023年第12期17卷 1837-1865页

作者： Muhammad Tawalbeh Haya Aljaghoub Muhammad Qasim Amani Al-Othman Sustainable and Renewable Energy Engineering Department University of SharjahSharjah 27272United Arab Emirates Sustainable Energy&Power Systems Research Centre RISEUniversity of SharjahSharjah 27272United Arab Emirates Industrial Engineering and Engineering Management Department University of SharjahSharjah 27272United Arab Emirates Department of Chemical and Biological Engineering American University of SharjahSharjah 26666United Arab Emirates Materials Science and Engineering Program College of Arts and SciencesAmerican University of SharjahSharjah 26666United Arab Emirates

Extensive research efforts are currently devoted to developing and improving conventional technologies for water treatment. Membrane-based water treatment technologies are among the most preferred options due to their commercial success, simple operation, low energy and space requirements, and high separation efficiency. Despite the advances made in membrane-based technologies, fouling remains a critical challenge. Fouling occurs upon the accumulation of unwanted impurities on the membrane surface and within the membrane pores which results in a significant decline in the membrane permeate flux. To alleviate the operational challenges from fouling, surface modification to develop antifouling membranes appears to be an effective technique. A comprehensive review of the surface modification techniques for the development of antifouling membranes is provided in this paper. Chemical surface modification techniques (grafting and plasma treatment), physical modification techniques (blending, coating, adsorption, and thermal treatment), and combined physical and chemical modification techniques have been discussed. Moreover, the challenges related to surface modification and the future research directions are addressed.

关键词： fouling antifouling membrane surface modification membrane pretreatment

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Analysing the Diurnal Evolution of Land Surface Temperature During Heat Wave Event at High Spatial Resolution 3

Analysing the Diurnal Evolution of Land Surface Temperature ...

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3rd IEEE India Geoscience and Remote Sensing Symposium, InGARSS 2023

作者： Sara, Kukku Rajasekaran, Eswar Indian Institute of Technology Bombay Department of Civil Engineering Mumbai India Interdisciplinary Program in Climate Studies Indian Institute of Technology Bombay Department of Civil Engineering Mumbai India

ISBN: (纸本)9798350325591

In recent decades, frequently reported heat waves attributed to climate change have profoundly affected human health and food production and posed challenges to the sustainable development goals of a densely populated country like India. This study investigates the spatial and temporal trends of Land Surface Temperature (LST) during heat wave period, utilizing high spatio-temporal resolution LST data across two distinct geographical regions of India where instances of heat events have been reported. The high spatiotemporal LST was derived using a hybrid approach combining multi-variate spatial disaggregation and diurnal temperature cycle modelling. The diurnal parameters derived using the proposed methodology were compared during the heat wave year and a normal year. The results show that these diurnal parameters of LST can offer valuable insights into extreme temperature events and have the potential to aid in the mitigation of vegetative stress and consequences on human population during such extreme events. © 2023 IEEE.

关键词： Surface measurement

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Dynamic Sampling-Based Meta-Learning Using Multilingual Acoustic Data for Under-Resourced Speech Recognition

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IEEE Access 2024年 12卷 106070-106083页

作者： Hsieh, I-Ting Wu, Chung-Hsien Zhao, Zhe-Hong National Cheng Kung University Graduate Program of Multimedia Systems and Intelligent Computing Tainan70101 Taiwan National Cheng Kung University Department of Computer Science and Information Engineering Tainan70101 Taiwan

Under-resourced automatic speech recognition (ASR) has become an active field of research and has experienced significant progress during the past decade. However, the performance of under-resourced ASR trained by existing methods is still far inferior to high-resourced ASR for practical applications. In this paper, speech data from languages that share the most phonemes with the under-resourced language are selected as supplementary resources for meta-training based on the Model-Agnostic Meta-Learning (MAML) strategy. Besides supplementary language selection, this paper proposes a dynamic sampling method instead of the original random sampling method to select support and query sets for each task in MAML to improve meta-training performance. In this study, Taiwanese is selected as the under-resourced language, and the speech corpus of five languages, including Mandarin, English, Japanese, Cantonese, and Thai, are chosen as supplementary training data for acoustic model training. The proposed dynamic sampling approach uses phonemes, pronunciation, and speech recognition models as the basis to determine the proportion of each supplementary language to select helpful utterances for MAML. For evaluation, with the selected utterances from each supplementary language for meta-training, we obtained a Word Error Rate of 20.24% and a Syllable Error Rate of 8.35% for Taiwanese ASR, which were better than the baseline model (26.18% and 13.99%) using only the Taiwanese corpus and other methods. © 2013 IEEE.

关键词： Speech recognition

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Quantum Calculus-Based Two-Dimensional Least Mean Square Algorithm 58

Quantum Calculus-Based Two-Dimensional Least Mean Square Alg...

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58th Asilomar Conference on Signals, systems and Computers, ACSSC 2024

作者： Moinuddin, Muhammad Zerguine, Azzedine Al-Saggaf, Ubaid M. Arif, Muhammad King Abdulaziz University Electrical and Computer Engineering Department The Centre of Excellence in Intelligent Engineering Systems Jeddah Saudi Arabia Kfupm Electrical Engineering Department The Interdisciplinary Research Center for Communication Systems and Sensing Dhahran31261 Saudi Arabia Institute of Networked and Embedded Systems University of Klagenfurt Klagenfurt Austria The Ubiquitous Sensing Systems Lab University of Klagenfurt-Silicon Austria Labs Klagenfurt Austria

ISBN: (纸本)9798350354058

Recent work of the one-dimensional q-LMS algorithm give insight that the Quantum Calculus based gradient called the q-gradient is capable of improving the convergence behavior in contrast to the standard LMS algorithm. The reason for this is the fact that the q-derivative takes larger steps in minimizing a cost function as it evaluates the secant in contrast to the tangent of the cost function. Motivated by this, we propose a two-dimensional version of the q-LMS algorithm. More precisely, we employ Quantum Calculus based q-gradient in steepest descent optimization of mean-square-error (MSE) cost function in 2D adaptive filtering scenario to obtain two-dimensional q-LMS (2D q-LMS) algorithm. A thorough analytical investigation of the proposed 2D q-LMS algorithm in both mean and mean-square sense is provided. Both the transient and steady-state convergence behaviours are examined. Consequently, excess MSE (EMSE) learning curve and its steady-state expression are evaluated in closed form. Simulation results are presented for the application of noise cancelation in images to show the superiority of the proposed 2D q-LMS algorithm. © 2024 IEEE.

关键词： Cost functions

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Distributed accelerated primal-dual neurodynamic approaches for resource allocation problem

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Science China(Technological Sciences) 2023年第12期66卷 3639-3650页

作者： ZHAO You HE Xing YU JunZhi HUANG TingWen College of Electronic and Information Engineering Southwest UniversityChongqing 400715China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China Science Program Texas A&M University at QatarDoha 2387Qatar

This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally *** the help of projection operators,a primal-dual framework,and Nesterov's accelerated method,we first design a distributed accelerated primal-dual projection neurodynamic approach(DAPDP),and its convergence rate of the primal-dual gap is O(1/(t^(2)))by selecting appropriate parameters and initial ***,when the local closed convex sets are convex inequalities which have no closed-form solutions of their projection operators,we further propose a distributed accelerated penalty primal-dual neurodynamic approach(DAPPD)on the strength of the penalty method,primal-dual framework,and Nesterov's accelerated *** on the above analysis,we prove that DAPPD also has a convergence rate O(1/(t^(2)))of the primal-dual *** with the distributed dynamical approaches based on the classical primal-dual framework,our proposed distributed accelerated neurodynamic approaches have faster convergence *** simulations demonstrate that our proposed neurodynamic approaches are feasible and effective.

关键词： accelerated primal-dual neurodynamic approaches RAP projection operators penalty method convergence rate O(1/(t^(2)))

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RUL Estimation for Power Electronic Devices Using RNNs

RUL Estimation for Power Electronic Devices Using RNNs

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2024 Prognostics and System Health Management Conference, PHM 2024

作者： Cai, Congrui Lu, Zhonghai School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Embedded Systems Master Program Sweden School of Electrical Engineering and Computer Science Department of Electrical Engineering KTH Royal Institute of Technology Sweden

ISBN: (纸本)9798350360585

Recurrent Neural Networks (RNNs) are commonly used in data-driven approaches to estimate the Remaining Useful Lifetime (RUL) of power electronic devices. RNNs are preferred because their intrinsic feedback mechanisms are better suited to model time-series data. However, the impact of RNN complexity on estimation accuracy is rarely discussed in the literature. This issue is important because choosing a lower-complexity model that delivers the same or similar performance as a higher-complexity model can increase implementation efficiency. In the paper, we use three RNN models, namely, the vanilla version, LSTM (Long Short Term Memory) and GRU (Gated Recurrent Unit) to conduct RUL estimation for power electronic devices. We use two accelerated aging datasets, one dataset targeting the package failure of MOSFETs, and the other dataset targeting package failure of power diodes. Our study shows that a lower-complexity RNN does not necessarily deliver a lower performance. Similarly, a higher-complexity model does not assure a higher performance. As such, our work highlights the importance of selecting a proper neural network for RUL estimation not biased towards complex models. This is especially useful and important for implementing such RUL estimation techniques in embedded resource-constrained and speed-limited computins platforms. © 2024 IEEE.

关键词： Long short-term memory

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