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Robust Image Based Visual Servoing of Omnidirectional Mobile Manipulator

Transactions of the Korean Institute of electrical Engineers 2022年第1期71卷 132-139页

作者： Jo, Kangmin Chwa, Dongkyoung Dept. of Electrical and Computer Engineering Ajou University Korea Republic of

This paper proposes robust image based visual servoing of an omnidirectional mobile manipulator using integral sliding mode control to compensate for the uncertainty that may occur while performing the image-based visual servoing. The stability of the overall omnidirecitonal mobile manipulator system using the proposed method is proven by the Lyapunov stability analysis by showing that the error stays on the sliding surface always and asymptotically converges to zero. In order to solve the singularity problem that can occur when controlling the omnidirectional mobile robot and the manipulator at the same time, a switching technique is proposed in such a way that the omnidirectional mobile robot and manipulator operate sequentially to prevent the abnormal operation of the manipulator and solve the singularity problem. The validity of the proposed robust image based visual servoing method is verified through simulation results. © 2022 Korean Institute of electrical Engineers. All rights reserved.

关键词： Manipulators

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Back EMF Protection Circuit Design and Modeling Method of the PMSM of the Small Autonomous Underwater Vehicle by Underwater Discharge

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Transactions of the Korean Institute of electrical Engineers 2022年第5期71卷 471-478页

作者： Cho, Won-Hyo Lee, Byoung Kuk Dept. of Electrical and Computer Engineering Sungkyunkwan University Korea Republic of

In this paper, we identify the electric power problem of the high-speed underwater discharge in a small autonomous underwater vehicle(AUV) and propose a circuit design method to protect it. High-speed underwater discharge of an AUV arouse propeller rotates due to the water flow. Excessive initial propeller rotation generates a back EMF of the motor and causes a voltage increase at the DC terminal of the inverter. To figure out this problem, a simulation was performed to limit the back EMF in a simplified environment. Then, a simulation-based controller protection circuit was proposed. Finally, the validity of the proposed simulation and the superiority of the protection circuit were confirmed through the actual underwater discharge test. Copyright © The Korean Institute of electrical Engineers

关键词： Autonomous underwater vehicles

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Sentiment Analysis with Support Vector Machines for Travel Agency Ranking and Traveler Decision Support in Sri Lanka 8

Sentiment Analysis with Support Vector Machines for Travel A...

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8th SLAAI - International Conference on Artificial Intelligence, SLAAI-ICAI 2024

作者： Jayawardana, D.D.M. Meedin, G.S.N. Rathnayake, H.U.W. The Open University of Sri Lanka OUSL Faculty of Engineering Dept. of Electrical and Computer Engineering Jaela Sri Lanka The Open University of Sri Lanka OUSL Faculty of Engineering Dept. of Electrical and Computer Engineering Colombo Sri Lanka

ISBN: (纸本)9798331509170

Travelers often rely on online reviews to plan trips, but the large volume of data can hinder informed decision-making, especially in the Sri Lankan tourism industry. This research develops a sentiment analysis-based system to help travelers navigate reviews and make informed choices. The system uses Natural Language Processing (NLP) techniques to preprocess and structure user reviews, categorizing them into subcategories like transportation, accommodation, food and beverage, entertainment, recommendations, purpose, and travel agencys. Support Vector Machine (SVM) and Multinomial Naive Bayes (MultinomialNB) classifiers are employed to assess sentiment, classifying reviews as positive, neutral, or negative. The integration of NLP and SVM ensures high accuracy, efficiency, and interpretability in sentiment analysis, enhancing the model's performance. The designed platform presents travelers with an easy-To-understand bar chart summarizing travel agency reviews and providing actionable insights into service quality. Key metrics like precision, recall, and score validate the model's effectiveness. By organizing feedback into insights, the system empowers travelers to make better decisions and helps travel agencies identify areas for improvement. The scalable approach allows for adaptation to larger datasets and various tourism contexts, making it a reliable tool for comparing Sri Lankan travel agencies and improving the overall tourism experience. © 2024 IEEE.

关键词： Support vector machines

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Early Detection of Heart Rate Conditions in Autistic Children Using IoT-Based Systems 4

Early Detection of Heart Rate Conditions in Autistic Childre...

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4th International Conference on electrical engineering and computer Science, ICECOS 2024

作者： Albar, Nizam Melinda, Melinda Away, Yuwaldi Universitas Syiah Kuala Dept. Electrical Engineering Master of Electrical Engineering Study Program Banda Aceh Indonesia Universitas Syiah Kuala Engineering Faculty Dept. Electrical Engineering and Computer Banda Aceh Indonesia

ISBN: (纸本)9798350368253

Early detection of heart rate conditions in autistic children is crucial for anticipating tantrum reactions and providing prompt medical intervention. Previous research designed a prototype for acquiring Electrocardiogram (ECG) signals using the AD8232 sensor, but it required a long time to identify heart rate conditions. This study aims to develop the previous prototype using Internet of Things (IoT) implementation to acquire and identify the heart rate conditions of autistic children in real time. The ECG signal data is analyzed using Butterworth Filter and Artificial Neural Network (ANN) integrated into Raspberry Pi and results are transmitted to the Blynk App. Testing over 20 minutes showed that in the first 10 minutes, the system identified a normal heart rate at 105.19 BPM with 67% accuracy, while in the second 10 minutes, the heart rate rose to 117.19 BPM with tantrum symptoms and 75% accuracy. This system helps medical personnel provide immediate intervention during tantrums. © 2024 IEEE.

关键词： Butterworth filters

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Robust Tracking Control of 6 DOF Manipulator using Artificial Neural Network based Integral Sliding Mode Control

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Transactions of the Korean Institute of electrical Engineers 2022年第1期71卷 140-156页

作者： Hwang, Junha Chwa, Dongkyoung Dept. of Electrical and Computer Engineering Ajou University Korea Republic of

This paper proposes a robust tracking control method for a six degree-of-freedom manipulator using artificial neural network based integral sliding mode control. The proposed method is designed to consider all of the actual manipulator's weight, length, and moment of inertia, while maintaining the robustness against the disturbance and the uncertainty of the system model. The trajectory tracking error can be effectively reduced by using the proposed method even in this situation. Both the simulation and experimental results are provided to verify the validity of the proposed method. © 2022 Korean Institute of electrical Engineers. All rights reserved.

关键词： Neural networks

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A Comparative Analysis of Transformer Models in Zero-Shot Text Classification 15

A Comparative Analysis of Transformer Models in Zero-Shot Te...

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15th International Conference on Information, Intelligence, Systems and Applications, IISA 2024

作者： Kyritsis, Konstantinos Liapis, Charalampos M. Spatiotis, Nikolaos Perikos, Isidoros Paraskevas, Michael University of Peloponnese Electrical & Computer Engineering Dept. Patras26334 Greece University of Patras Mathematics Dept. Patras26504 Greece Computer Technology Institute & Press 'Diophantus' Patras26504 Greece University of Patras Computer Engineering & Informatics Dept. Patras26504 Greece

ISBN: (纸本)9798350368833

Ahstract-Zero-shot text classification leverages pre-trained transformer models to categorize texts without the need for task-specific training. This paper analyzes a variety of transformer-based pre-trained methods on the task of zero-shot text classi-fication. Specifically, we present a deep comparative analysis of various transformer models, such as BART, DeBerta, DistiIBART, RoBERTa, and their variants, and evaluate their performance in various zero-shot text classification schemes. Furthermore, we examine the models' generalization capabilities. The findings highlight key strengths and weaknesses of each model, providing insights into their suitability for different text categorization tasks. Our research contributes to the broader understanding of transformer-based approaches and offers guidance for selecting models for zero-shot text classification. © 2024 IEEE.

关键词： Zero-shot learning

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High-Power Dual-Polarized Reconfigurable Reflectarray with All-Metal Antenna and Stacked Phase Shifters

High-Power Dual-Polarized Reconfigurable Reflectarray with A...

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2025 United States National Committee of URSI National Radio Science Meeting, USNC-URSI NRSM 2025

作者： Hossain, Muhammad Mubasshir Valera, Tatiana Venkatakrishnan, Satheesh B. Volakis, John L. Electrical and Computer Engineering Dept. Florida International University MiamiFL United States

ISBN: (纸本)9781946815200

High-power all-metal antenna arrays with dual-polarization and wide-angle scanning capabilities are well-suited for directed energy applications. Keeping this in consideration, a dual-polarized reconfigurable reflectarray is proposed to maximize the effective isotropic radiated power (EIRP) of a high-power phased array system. © 2025 USNC-URSI.

关键词： Reflection

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Incorporating Multi-Source Transfer Learning into an Unscented Kalman Filter for Object Tracking 59

Incorporating Multi-Source Transfer Learning into an Unscent...

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59th Annual Conference on Information Sciences and Systems, CISS 2025

作者： Alotaibi, Omar Mark, Brian L. George Mason University Dept. of Electrical and Computer Engineering FairfaxVA United States

ISBN: (纸本)9798331513269

We develop a framework for incorporating Bayesian transfer learning into an unscented Kalman filter (UKF) to track a nonlinear dynamic motion model in a multi-source system consisting of two or more sensors. This framework extends a previous UKF-based transfer learning scheme for object tracking in a two-sensor system. Our objective is to extend the application of transfer learning to leverage knowledge gained from several source sensors. To achieve this aim, we generalize the transfer learning approach to online multi-source Bayesian transfer learning. The extended framework is approximated via a UKF, where the predicted observation densities of one or more sources are transferred to a primary sensor experiencing higher measurement noise intensity. By leveraging knowledge from multiple sources instead of a single source, the tracking performance of the primary sensor is able to achieve a higher level of estimation accuracy. The performance gain increases proportionally with the number of source sensors. Our numerical results demonstrate the effectiveness of multi-source Bayesian transfer learning in improving tracking accuracy. © 2025 IEEE.

关键词： Contrastive Learning

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Denoising Task-Based Functional Magnetic Resonance Imaging Data Using Hybrid Deep Neural Network Model

Denoising Task-Based Functional Magnetic Resonance Imaging D...

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2023 International Conference on Intelligent Computing, Communication, Networking and Services, ICCNS 2023

作者： Kashfolayat, Sahar Shiri, Hamid Baniasadi, Amirali Univ. of Victoria Dept. of Electrical and Computer Engineering Victoria Canada Univ. of Tabriz Dept. of Electrical and Computer Engineering Tabriz Iran

ISBN: (纸本)9798350339291

We present a hybrid deep neural network model for Denoising task-based fMRI data. This model is based on the Deep Neural Network (DNN) model [1] and improves its performance by utilizing different layers for Grey Matter and non-Grey Matter related data. The preprocessed data passes through GM and non-GM masks. Then it is fed to the network and passes through temporal filters along with an LSTM layer. The result will be classified using time-distributed fully-connected layers -since the input data is a time-series of voxel values-which have different structures for GM and non-GM input data. This hybrid mechanism helps the model to reduce the correlation between non-GM processed data and the design matrix significantly. We also increase the correlation of GM output, which is equivalent to better cost function and less noise. This new self-supervised model is tested using simulated data and the HCP database [2]. We succeed in denoising task better than the DNN model by an average of at least 4%. © 2023 IEEE.

关键词： Neural network models

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A DYC system for 4WID Electric Vehicles via Fuzzy-Nonsingular Fast Terminal Sliding Mode Control

A DYC system for 4WID Electric Vehicles via Fuzzy-Nonsingula...

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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Eun Lee, Jung Woo Kim, Byeong Electronic and Computer Engineering University of Ulsan City of Ulsan Dept. of Electrical Korea Republic of

ISBN: (纸本)9798331533892

In this paper, we introduce a novel Direct Yaw Moment Control (DYC) system designed to bolster the stability of four-wheel independent drive (4WID) electric vehicles in diverse extreme driving conditions. Our proposed system is developed based on the design of Non-singular Fast Terminal Sliding Mode Control (NFTSMC) methods to calculate two optimal additional yaw moments, each targeting specific control objectives: the desired yaw rate and the desired sideslip angle. These calculated values are then intelligently weighted in real time using a Fuzzy Logic system to determine the final additional yaw moment applied to the vehicle. The stability of the NFTSMC methods is rigorously ensured through the Lyapunov theory. Simulation results underscore the efficacy of our proposed DYC system, particularly in navigating through extreme driving scenarios. Comparisons with no control and fixed weight-based SMC strategies demonstrated significant improvements in both yaw rate and sideslip angle tracking performance. The proposed method not only amplifies control effectiveness, ensuring swift convergence and high precision, but also substantially mitigates chattering phenomena, as evidenced by yaw moment and torque observations. © 2025 IEEE.

关键词： Lyapunov methods

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