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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Heydrich, Marius Hammer, Tim Mitsching, Thomas Ivanov, Valentin Technische Universitä t Ilmenau Dept. of Computer Science and Automation Ilmenau Germany Technische Universitä t Ilmenau Dept. of Mechanical Engineering Ilmenau Germany

ISBN: (纸本)9798331533892

This paper presents a case study on adaptive one pedal driving for a battery electric sport utility vehicle with in wheel based rear-wheel drive that is able to adjust the drive pedal curve automatically. In addition, a fuzzy logic observes the state of the electric machines to adapt the motor torque to the most efficient region. The control method was tested in a co-simulation using a validated vehicle model and a driver-in-the-loop strategy. Within the experiments, an improvement in energy recovery of up to 4.8 % was achieved compared to the classic brake blending. In addition, the total number of brake pedal applications is ten times lower, which translates into less driving stress and greater driving comfort, especially on long distance trips, proving the effectiveness of the controller. © 2025 IEEE.

关键词： Vehicle wheels

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Enhancing Predictive Maintenance with AI: Applications and Impact

Enhancing Predictive Maintenance with AI: Applications and I...

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Mobile Computing and Sustainable Informatics (ICMCSI), International Conference on

作者： Chitranjanjit Kaur Anurag Sharma dept. School of Engineering Design and Automation (Computer Science and Engineering) GNA University Phagwara India

ISBN: (数字)9798331522667

ISBN: (纸本)9798331522674

Industrial maintenance is crucial for companies due to its significant impact on operational costs and efficiency. Many industrial firms find that a substantial portion of their expenses stems from equipment breakdowns, failures, or suboptimal performance over time. These costs can sometimes account for up to 50% of overall expenditures. Additionally, companies face various losses, including downtime from breakdowns, challenges in inventory and purchase management, and potential risks of injuries. The objective of this writing is to investigate how Predive maintenance is a footstep towards industry 5.0 where automation of predictive maintenance is evolved to autonomy in maintenance. In addition to it various machine learning algorithms are suggested to identify between healthy and poor data of a machine which is first step in Predictive maintenance then Deep learning algorithms to construct XAI (Explainable artificial Intelligence). Predictive maintenance, production scheduling, problem detection, predictive quality, and increased energy efficiency are highlighted in the typical use cases of the selected AI applications. Data from the real environment is transmitted to be virtually recreated. Efficient industrial maintenance helps mitigate these costs by reducing downtime, improving equipment reliability, and lowering the need for emergency repairs. By implementing a well-designed and optimized maintenance strategy, production plants can ensure their equipment operates as reliably as possible, minimizing disruptions and enhancing overall operational efficiency. Machine Learning (ML) methods have been appeared as a crucial tool in Predictive Maintenance (PdM) applications to prevent failures in equipment that make up the production lines. However, the performance of PdM applications depends on the appropriate choice of the ML method. To save expenses, find inefficiencies, duplicate tool tracking systems, and do other tasks, Digital Twin evaluates material utilization

关键词： Adaptation models Costs Machine learning algorithms Electric breakdown Stacking Companies Writing Vectors Maintenance Predictive maintenance

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Transfer and Bayesian Learning Approaches for Land Use and Land Cover Classification

Transfer and Bayesian Learning Approaches for Land Use and L...

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Emerging Smart Computing and Informatics (ESCI), Conference on

作者： Zainab Malik Aisha Sir Elkhatem Gokhan Bilgin Dept. of Computer Engineering Yildiz Technical University Istanbul Turkey Dept. of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (数字)9798331515683

ISBN: (纸本)9798331515690

Land use and land cover (LULC) classification is essential for understanding the impact of both human activities and natural processes on the Earth’s surface. This classification plays a critical role in deforestation, urban planning, and damage assessment. However, traditional machine learning techniques often face challenges in achieving consistent accuracy in diverse datasets. In this study, we implement transfer learning and Bayesian learning approaches to enhance the accuracy and robustness of LULC classification. Transfer learning leverages knowledge from previous classification problems, while Bayesian learning addresses uncertainties in the classification process. Using the Remote Sensing Image Classification Benchmark (RSI-CB128) dataset, the study evaluates the performance of Bayesian Convolutional Neural Networks (CNN), Mobile Neural Networks (MobileNet), Inception Neural Networks (InceptionNet), Densely Connected Convolutional Networks (DenseNet) and Efficient Neural Networks (EfficientNet). The study also investigates the impact of varying the Bayesian layers on model performance, finding that a medium number of layers optimally captures model uncertainty. The results indicate that the transfer learning models, particularly MobileNet, achieved the highest accuracy of 97. 48% compared to 90. 33% for Bayesian CNN. These findings suggest that transfer learning techniques are highly effective for LULC classification, providing a reliable method for practical applications in remote sensing.

关键词： Deforestation Accuracy Uncertainty Computational modeling Transfer learning Neural networks Urban planning Land surface Bayes methods Convolutional neural networks

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A New Method for One-Pedal Driving With Fuzzy-Based Efficiency-Optimization Algorithm

A New Method for One-Pedal Driving With Fuzzy-Based Efficien...

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International Conference on Mechatronics (ICM)

作者： Marius Heydrich Tim Hammer Thomas Mitsching Valentin Ivanov Dept. of Computer Science and Automation Technische Universitä t Ilmenau Ilmenau Germany Dept. of Mechanical Engineering Technische Universitä t Ilmenau Ilmenau Germany

ISBN: (数字)9798331533892

ISBN: (纸本)9798331533908

关键词： Fuzzy logic Torque Electric machines Vehicle safety Wheels Motors Batteries Brakes Vehicle dynamics Optimization

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Securing Mobile Robotic Networks Against Replacement Attack

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IEEE Transactions on Automatic Control 2025年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

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Deep Learning and IoT-Enabled Accident Detection and Reporting for Smart Cities Domain

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KSII Transactions on Internet and Information Systems 2025年第4期19卷 1140-1166页

作者： Javed, Rawal Mazhar, Tehseen Aoun, Muhammad Shahzad, Tariq Al-AlShaikh, Halah A. Ghadi, Yazeed Yasin Saudagar, Abdul Khader Jilani Khan, Muhammad Amir School of Automation Central South University Changsha China School of Computer Science National College of Business Administration and Economics Lahore54000 Pakistan Department of Computer Science and Information Technology School Education Department Government of Punjab Layyah31200 Pakistan Department of CS IT Ghazi University Punjab Dera Ghazi Khan Pakistan School of Electrical Engineering Dept. of Electrical and Electronic Eng. Science University of Johannesburg Johannesburg2006 South Africa Riyadh11432 Saudi Arabia Department of Computer Science and Software Engineering Al Ain University Abu Dhabi12555 United Arab Emirates School of Computing Sciences College of Computing Informatics and Mathematics University Technology MARA Selangor Shah Alam40450 Malaysia

Even though numerous ICT-based solutions have been put forth for the detection of accidents and rescue missions, they often suffer from compatibility issues with different vehicles and are accompanied by high costs. This paper introduces a cutting-edge intelligent system designed for accident detection and rescue, mirroring human cognitive functions through integrating the Internet of Things (IoT) and artificial intelligence. A specialized kit for IoT has been created to identify accidents and gather comprehensive incident-related data, such as pressure, position, gravitational force, and speed. This information is then transmitted to the cloud for processing. A deep learning model is implemented in the cloud environment to verify the IoT module's output and activate the rescue mechanism when an accident is detected. The DL module, employing ensemble transfer learning with dynamic weights, aims to minimize false detection rates. Because there isn't an appropriate dataset available, a personalized dataset is generated from diverse online videos. To validate the proposed method, a comparative analysis is conducted on Yolo V4. Experimental results indicate that Yolo V4 outperforms, achieving training, validation, and test accuracies of 98.2% each. To assess the system's real-world applicability, it undergoes validation using a robot car model. Copyright © 2025 KSII.

关键词： Deep learning

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Is Almost Sure Asymptotic Stabilizability Sufficient for Input Delay Tolerability of Nonlinear Stochastic Systems?

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IEEE Transactions on Automatic Control 2025年

作者： Yu, Xin Lin, Wei Jiangsu Normal University School of Electrical Engineering and Automation Xuzhou221116 China Case Western Reserve University Dept. of Electrical Computer and Systems Engineering ClevelandOH44106 United States

This article considers the problem of input delay tolerance (IDT) for stochastic control systems that are almost surely asymptotically stabilizable but inherently nonlinear (e.g., neither locally Lipschitz continuous nor linear growth and non-smoothly stabilizable). Using the notions of almost sure forward completeness [42] and weighted homogeneity, together with the existence of the solutions of continuous time-delay stochastic systems, we prove under Lyapunov-like conditions that : i) almost sure asymptotic stabilizability by nonsmooth homogeneous state feedback and dominated homogeneity of degree zero imply input delay tolerability of stochastic nonlinear systems, and ii) almost sure asymptotic stabilizability by homogeneous output feedback also implies input delay tolerability of the same class of multi-input/multi-output stochastic nonlinear systems. Our results contain not only the existing IDT results for the global Lipschitz or linear growth stochastic systems as special cases, but also important applications to significant classes of stochastic control systems with unstabilizable and undetectable linearization. © 1963-2012 IEEE.

关键词： Stochastic control systems

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Error compensation on precision machine tool servo control system based on digital concave filter

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Journal of Harbin Institute of Technology(New Series) 2001年第4期8卷 389-393页

作者：王立松苏宝库张晶董申 Dept. of Control Theory and Engineering Harbin Institute of Technology Dept. of Computer Science and Engineering Harbin Institute of Technology Dept. of Mechanical Engineering and Automation Harbin Institute of Technology

It is concluded from the results of testing the frequency characteristics of the sub micron precision machine tool servo control system, that the existence of several oscillating modalities is the main factor that affects the performance of the control system. To compensate for this effect,several concave filters are utilized in the system to improve the control accuracy. The feasibility of compensating for several oscillating modalities with a single concave filter is also studied. By applying a modified Butterworth concave filter to the practical system, the maximum stable state output error remains under ±10 nm in the closed loop positioning system.

关键词： precision machine tool concave filter oscillating modality

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Path planning of free-floating robot in cartesian space using direct kinematics

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International Journal of Advanced Robotic Systems 2007年第1期4卷 17-26页

作者： Xu, Wenfu Liang, Bin Li, Cheng Xu, Yangsheng Qiang, Wenyi Dept. of Control Science and Engineering Harbin Institute of Technology Harbin China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited (In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

关键词： Mobile robots

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New coordination scheme for multi-robot systems based on state space models

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Journal of Systems engineering and Electronics 2008年第4期19卷 722-734页

作者： Xie Wenlong Su Jianbo Lin Zongli Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200240 P. R. China Charles L. Brown Dept. of Electrical and Computer Engineering Univ of Virginia Charlottesville VA 22904-4743 USA

A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.

关键词： multi-robot system coordination state space formation maneuver subgoal

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