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6th International Conference on robotics and automation in Industry, ICRAI 2024

作者： Rasheed, Shafaq Mirza, Amal Saeed, Muhammad Saad Yousaf, Muhammad Haroon University of Engineering and Technology Department of Computer Engineering Taxila Pakistan National Center of Robotics and Automation Swarm Robotics Lab Taxila Pakistan

ISBN: (纸本)9798350355703

Waste disposal into water bodies is a serious concern for environmental engineers, often resulting in urban flooding, soil degradation in agricultural areas, and freshwater pollution. Additionally, trash accumulation in water bodies threatens ma-rine life by introducing contaminants through storm drains, rivers, and other channels. Furthermore, the unique character-istics of underwater environments, including high noise levels, low visibility, and color variation, pose challenges for trash detection. Thus, addressing this issue is crucial for environmental sustainability. The work focuses on both floating and submerged trash in water bodies. Typically, the detection of trash on water bodies is impacted by environmental variability, diverse appearance, and background clutter. These conditions also make usual object detection techniques less effective. Deep learning methods have shown promise in handling challenging visual tasks, therefore researchers have turned to them to get over these challenges. In this work, we focus on applying different versions of YOLO to the problem of water trash detection. To assess these models' performance, we use four different datasets: Trash Flow rate Dataset, DeepTrash, FloW, and TrashICRA. Each dataset represents various trash types under different conditions such as underwater trash and floating trash. Our study attempts to identify the best method suitable for the detection of aquatic waste. Our results highlight the effectiveness of YOLO variants in identifying the presence of trash in water ecosystems. By leveraging Grad-CAM we gain insights into the interpretability and transparency of deep learning models thus enabling Explainable AI. This approach will also contribute to the understanding and trustworthiness of artificial systems deployed for trash detection applications by providing a transparent view of decision making process of deep learning models. © 2024 IEEE.

关键词： Storm sewers

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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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Advancement in CFD and Responsive AI to Examine Cardiovascular Pulsatile Flow in Arteries:A Review

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Computer Modeling in Engineering & Sciences 2024年第12期141卷 2021-2064页

作者： Priyambada Praharaj Chandrakant R.Sonawane Arunkumar Bongale Department of Engineering Science and Humanities JSPM Rajarshi Shahu College of EngineeringPune411033India Robotics and Automation Department Symbiosis Institute of TechnologySymbiosis Institute(Deemed)UniversityPune412115India

This paper represents a detailed and systematic review of one of the most ongoing applications of computational fluid dynamics(CFD)in biomedical *** its various engineering applications,CFD has started to establish a presence in the biomedical *** abnormality,a familiar health issue,is an essential point of investigation by research *** modalities provide cardiovascular structural information but give insufficient information about the hemodynamics of *** study of hemodynamic parameters can be a potential measure for determining cardiovascular *** studies have explored the rheological behavior of blood experimentally and *** paper provides insight into how researchers have incorporated the pulsatile nature of the blood experimentally,numerically,or through various simulations over the *** focuses on how machine learning platforms derive outputs based on mass and momentum conservation to predict the velocity and pressure profile,analyzing various cardiac diseases for clinical *** will pave the way toward responsive AI in cardiac healthcare,improving productivity and quality in the healthcare *** paper shows how CFD is a vital tool for efficiently studying the flow in *** review indicates this biomedical simulation and its applications in healthcare using machine learning and *** AI-based CFD models can impact society and foster the advancement towards responsive AI.

关键词： Pulsatile flow cardiovascular CFD simulation patient-specific GPU-accelerated responsive AI

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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

作者： Mohiz, Abdul Nasir, Fazal E. Shah, Kamran University of Engineering & Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

ISBN: (纸本)9781665464727

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used. © 2023 IEEE.

关键词： Tillage

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Tracking daily paths in home contexts with RSSI fingerprinting based on UWB through deep learning models

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Multimedia Tools and Applications 2024年 1-25页

作者： Polo-Rodríguez, A. Valera, J.C. Peral, J. Gil, D. Medina-Quero, J. Department of Computer Engineering Automation and Robotics University of Granada Granada18071 Spain Alicante03690 Spain Department of Software and Computing Systems University of Alicante Alicante03690 Spain

The field of human activity recognition has evolved significantly, driven largely by advancements in Internet of Things (IoT) device technology, particularly in personal devices. This study investigates the use of ultra-wideband (UWB) technology for tracking inhabitant paths in home environments using deep learning models. UWB technology estimates user locations via time-of-flight and time-difference-of-arrival methods, which are significantly affected by the presence of walls and obstacles in real environments, reducing their precision. To address these challenges, we propose a fingerprinting-based approach utilizing received signal strength indicator (RSSI) data collected from inhabitants in two flats (60 m2 and 100 m2) while performing daily activities. We compare the performance of convolutional neural network (CNN), long short-term memory (LSTM), and hybrid CNN+LSTM models, as well as the use of Bluetooth technology. Additionally, we evaluate the impact of the type and duration of the temporal window (future, past, or a combination of both). Our results demonstrate a mean absolute error close to 50 cm, highlighting the superiority of the hybrid model in providing accurate location estimates, thus facilitating its application in daily human activity recognition in residential settings. © The Author(s) 2024.

关键词： Ultra-wideband (UWB)

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Reduction of THD Using Controlled Inverter for EV Motors

Reduction of THD Using Controlled Inverter for EV Motors

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2025 International Conference on Advances in Renewable Energy and Electric Vehicles, AREEV 2025

作者： Yankanchi, Anusha C Karchi, Nalini Tapaskar, Rakesh P KLE Technological University Department of Electrical and Electronics India KLE Technological University Department of Automation and Robotics Hubballi India

ISBN: (纸本)9798331529574

The rapid proliferation of electric vehicles (EVs) has intensified the demand for advanced power electronics systems capable of delivering high efficiency, reliability, and compliance with stringent standards. Inverters, as a critical component in EV powertrains, perform the essential function of converting direct current (DC) from batteries into alternating current (AC) to drive motors. However, conventional inverters often suffer from significant Total Harmonic Distortion (THD), which adversely impacts motor efficiency, exacerbates thermal and electromagnetic stress, and diminishes the overall lifespan of the system. Addressing these challenges, this study introduces an enhanced inverter control strategy combining Sinusoidal Pulse Width Modulation (SPWM) with a Proportional-Integral (PI) controller, specifically optimized to reduce THD and improve system performance under dynamic conditions. The proposed methodology leverages SPWM for high-precision modulation of inverter switches, ensuring smooth and efficient power conversion. The inclusion of a PI controller facilitates real-time adjustment of voltage and frequency, maintaining a constant voltage-to-frequency ratio critical for minimizing harmonic content and ensuring stable motor operation. The controller parameters are meticulously tuned using the Ziegler-Nichols method, achieving optimal proportional and integral gains tailored for dynamic load variations. A comprehensive simulation framework is developed in MATLAB/Simulink, incorporating key EV powertrain components such as a multilevel inverter, a three-phase induction motor, and variable load profiles to emulate real-world conditions. Simulation results demonstrate a significant reduction in THD, from an initial 21.18% without control to a mere 0.49% with the proposed SPWM-PI controller, surpassing the IEEE 519 harmonic standard requirements. Furthermore, the system exhibits improved motor speed regulation, enhanced torque stability, and superior power qu

关键词： Harmonic distortion

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Developing a Neural Network Structure in Controlling Air Conditioning Systems 27

Developing a Neural Network Structure in Controlling Air Con...

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27th International Conference on Soft Computing and Measurements, SCM 2024

作者： Nguyen, Duc M. Belov, Mihail P. Belov, Alexander M. Saint-Petersburg Electrotechnical University 'LETI' Department of Robotics and Industrial Automation Saint Petersburg Russia

ISBN: (纸本)9798350363708

The air conditioning system is a stochastic, non-stationary, multi-connected, nonlinear industrial system. Using traditional management methods for such an object do not provide the required quality of regulation, as maintaining microclimate parameters (temperature, humidity in a certain space) with high precision. To control the multi-connected output parameters of the air conditioning system, an artificial neural network (ANN) is proposed. The type of neural network is Multi-Layer Perceptron (MLP). The neural network control algorithm is based on correction of weight coefficients using the gradient descent and back propagation algorithm. © 2024 IEEE.

关键词： Multilayer neural networks

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Artificial Intelligence Application Solutions to Improve the Quality of Heating, Ventilation, and Air Conditioning System

Artificial Intelligence Application Solutions to Improve the...

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2024 Conference of Young Researchers in Electrical and Electronic Engineering, ElCon 2024

作者： Nguyen, Duc M. Belov, Mikhail P. Belov, Alexander M. Saint-Petersburg Electrotechnical University 'LETI' Department of Robotics and Industrial Automation Saint Petersburg Russia

ISBN: (纸本)9798350360646

Artificial intelligence (AI) is increasingly developing and being widely applied in all areas of life, such as: education, healthcare, transportation, production. The content of this article refers to the application of AI to improve the quality and efficiency of the control and operation of the Heating, Ventilation, and Air Conditioning (HVAC) system while also helping to reduce the system's energy consumption. © 2024 IEEE.

关键词： Artificial intelligence Heating Ventilation and Air Conditioning

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Speed and Distance Detection for Highway Traffic using Python

Speed and Distance Detection for Highway Traffic using Pytho...

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2023 International Conference on System, Computation, automation and Networking, ICSCAN 2023

作者： Devi, G Renuka Athiyan, S. Thamizh, K. Ilan Varthini, V. Hema Manakula Vinayagar Institute of Technology Department of Robotics and Automation Puducherry India

ISBN: (纸本)9798350315127

This Python -based scheme presents an innovative approach to bolstering road safety by harnessing the power of computer vision and machine learning. The primary objective is to provide drivers with crucial real-time information for informed lane change decisions, thereby reducing the risk of accidents. The system integrates advanced techniques such as object detection, tracking algorithms, and depth estimation to analyze video feeds from highway cameras. The system's core functionality involves estimating the speed and distance of vehicles on the highway. Object detection algorithms, including YOLO, SSD, and Faster R-CNN, are employed to identify and track vehicles in the video feed. Depth estimation techniques enhance accuracy by determining relative distances between vehicles. Machine learning algorithms, such as recurrent neural networks (RNNs) and long short-term memory networks (LSTMs), predict future positions and speeds, enabling the system to identify potential conflicts. © 2023 IEEE.

关键词： Python

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Eco-Centric Landscaping: The Science and Strategy of 5-Meter Seed Ball Deployment

Eco-Centric Landscaping: The Science and Strategy of 5-Meter...

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2023 International Conference on System, Computation, automation and Networking, ICSCAN 2023

作者： Pesha, J.V. Renukadevi, G. Srinath, G. Sheshanth, R. Premkumar, S. Manakula Vinayagar Institute of Technology Department of Robotics and Automation Puducherry India

ISBN: (纸本)9798350315127

In recent years the world has witnessed a growing occurrence of severe weather patterns predominantly attributed to the adverse effects of global warming deforestation marked by the decline in the earths tree population significantly contributes to this environmental crisis to combat deforestation and bolster green cover various strategies have been employed and among them the seed ball technique has emerged as a well-established method for reforestation seed balls compact spheres comprised of a blend of seeds clay compost and natural materials are dispersed across barren or degraded lands to create an environment conducive to seed germination and plant growth the process involves the careful selection and preparation of seeds with clay providing protection and compost delivering essential nutrients for the initial stages of plant development various methods are utilized to distribute these seed balls ranging from manual scattering to advanced techniques such as drone or aircraft dispersal the success of reforestation efforts hinges on factors like soil quality climate conditions and the choice of seeds over the past decade India has displayed a steadfast commitment to seed ball campaigns involving a collaborative effort among government agencies non-governmental organizations and local communities this approach empowers individuals to actively engage in reforestation initiatives to combat deforestation and mitigate the impacts of global warming. © 2023 IEEE.

关键词： Seed

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