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2024 IEEE International Test Conference, ITC 2024

作者： Deric, Aleksa Mitard, Kyle Tajik, Shahin Holcomb, Daniel University of Massachusetts Amherst Department of Electrical and Computer Engineering AmherstMA01003 United States Worcester Polytechnic Institute Department of Electrical and Computer Engineering WorcesterMA01609 United States

ISBN: (纸本)9798331520137

Driven by a need for ever-increasing chip performance, a growing number of semiconductor companies are opting for all-inclusive System-on-Chip (SoC) architectures. Increasingly, the solution adopted to minimize the impact of silicon defects on manufacturing yield of larger dies has been to split a design into multiple smaller dies called chiplets, which are then brought together on a silicon interposer. Advanced 2.5D and 3D packaging techniques that enable this kind of integration also promise increased power efficiency and opportunities for heterogeneous ***, despite their advantages, chiplets are not without issues. Disaggregating a design into multiple separate dies introduces new security threats, including the possibility of tampering with and probing exposed data lines. In this paper we evaluate the exposure of chiplets to probing by applying laser contactless probing techniques to a chiplet-based AMD/Xilinx VU9P FPGA. First, we identify and map interposer wire drivers, and show that probing them is easier compared to probing internal nodes. Lastly, we demonstrate that delay-based sensors, which can be used to protect against physical probes, are insufficient to protect against laser probing. © 2024 IEEE.

关键词： System-on-chip

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An Integrated Control Framework for Safe and Ergonomic Human-Drone Interaction in Industrial Warehouses

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3570-3585页

作者： Proia, Silvia Cavone, Graziana Scarabaggio, Paolo Carli, Raffaele Dotoli, Mariagrazia University of Modena and Reggio Emilia Department of Sciences and Methods for Engineering Modena41121 Italy University Roma Tre Department of Civil Computer Science and Aeronautical Technologies Engineering Rome00154 Italy Polytechnic of Bari Department of Electrical and Information Engineering Bari70126 Italy

This study introduces a novel control framework for human-drone interaction (HDI) in industrial warehouses, targeting pick-and-delivery operations. The goals are to enhance operator safety as well as well-being and, at the same time, to improve efficiency and reduce production costs. To these aims, the speed and separation monitoring (SSM) operation method is employed for the first time in HDI, drawing an analogy to the safety requirements outlined in collaborative robots' ISO standards. The so-called protective separation distance is used to ensure the safety of operators engaged in collaborative tasks with drones. In addition, we employ the rapid upper limb assessment (RULA) method to evaluate the ergonomic posture of operators during interactions with drones. To validate the proposed approach in a realistic industrial setting, a quadrotor is deployed for pick-and-delivery tasks along a predefined trajectory from the picking bay to the palletizing area, where the interaction between the drone and a moving operator takes place. The drone navigates toward the interaction space while avoiding collisions with shelves and other drones in motion. The control strategy for the drone cruise navigation integrates simultaneously the time-variant artificial potential field (APF) technique for trajectory planning and the iterative linear quadratic regulator (LQR) controller for trajectory tracking. Differently, in the descent phase, the receding horizon LQR algorithm is employed to follow a trajectory planned in accordance with the SSM, which starts from the approach point at the border of the interaction space and ends in the volume with the operator's minimum RULA. The presented control strategy facilitates drone management by adapting the drone's position to changes in the operator's position while satisfying HDI safety requirements. The results of the proposed HDI framework simulations for the case study demonstrate the effectiveness of the method in ensuring a safe and er

关键词： ISO Standards

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Robotic Arm Dataset (RoAD): A Dataset to Support the Design and Test of Machine Learning-Driven Anomaly Detection in a Production Line 49

Robotic Arm Dataset (RoAD): A Dataset to Support the Design ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Mascolini, Alessio Gaiardelli, Sebastiano Ponzio, Francesco Dall'ora, Nicola MacIi, Enrico Vinco, Sara Di Cataldo, Santa Fummi, Franco Polytechnic of Turin Dept. of Control and Computer Engineering Italy University of Verona Dept. of Engineering for Innovation Medicine Italy Polytechnic of Turin Dept. of Regional and Urban Studies and Planning Italy

ISBN: (纸本)9798350331820

The early detection of anomalous behaviors from a production line is a fundamental aspect of Industry 4.0, facilitated by the collection of massive amounts of data enabled by the Industrial Internet of Things. Nonetheless, the design and validation of anomaly detection algorithms, mostly based on sophisticated Machine Learning models, heavily rely on the availability of annotated datasets of realistic anomalies, which is very difficult to obtain in a real production line. To address this problem, we introduce the Robotic Arm Dataset (RoAD), specifically designed to support the development and validation of Multivariate Time Series Anomaly Detection (MTSAD) algorithms. We collect and annotate a large number of data and metadata to characterize the motion and energy consumption of a collaborative robotic arm in a full-fledged production line and annotate a comprehensive set of healthy as well as realistic anomalies scenarios. To prove the significance of RoAD and encourage future developments, we benchmark several state-of-the-art anomaly detection algorithms on our newly introduced dataset, and we freely release it to the scientific community. © 2023 IEEE.

关键词： Process monitoring

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Correction of Time-varying PMU Phase Angle Deviation with Unknown Transmission Line Parameters

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CSEE Journal of Power and Energy Systems 2023年第1期9卷 315-325页

作者： Ancheng Xue He Kong Feiyang Xu Junbo Zhao Naichao Chang Joe H.Chow Haiyan Hong State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Department of Electrical and Computer Engineering University of ConnecticutStorrs06268USA National Electric Power Dispatching and Control Center Beijing 100031China Department of Electrical Computerand Systems EngineeringRensselaer Polytechnic Institute(RPI)TroyNY 12180USA

Phasor measurement units(PMUs)provide useful data for real-time monitoring of the smart ***,there may be time-varying deviation in phase angle differences(PADs)between both ends of the transmission line(TL),which may deteriorate application performance based on *** address that,this paper proposes two robust methods of correcting time-varying PAD deviation with unknown parameters of TL(ParTL).First,the phenomena of time-varying PAD deviation observed from field PMU data are *** general formulations for PAD estimation are then *** simplify the formulations,estimation of PADs is converted into the optimal problem with a single ParTL as the variable,yielding a linear estimation of *** latter is used by second-order Taylor series expansion to estimate PADs *** reduce the impact of possible abnormal amplitude data in field data,the IGG(Institute of Geodesy&Geophysics,Chinese Academy of Sciences)weighting function is *** using both simulated and field data verify the effectiveness and robustness of the proposed methods.

关键词： Correction line parameters parameter identification phasor measurement time-varying phase angle difference deviation

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Analysis and Comparison of Dockerized and Standalone Apache Spark Configurations for Efficient Distributed Data Processing

Analysis and Comparison of Dockerized and Standalone Apache ...

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2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

作者： Ndigande, Alain P. Ari, Ismail Ozer, Sedat Department of Computer Science Ozyegin University Istanbul Turkey Department of Electrical and Computer Engineering California State Polytechnic University Pomona Pomona United States

ISBN: (纸本)9798350379433

Apache Spark, a powerful distributed computing framework, has become a key to handling large-scale data processing tasks in many applications, including signal processing. However, there are different considerations for performance, cost, or ease of use during the development and deployment stages. This paper benchmarks Apache Spark on different local setups in terms of performance and elaborates on alternative cloud computing costs. Performances of different Spark master-slave configurations with Docker and no Docker are evaluated over different numbers of worker nodes, cores, memory, and executors. Spark WordCount benchmark is tested on Wikipedia datasets of sizes ranging from 1GB to 25GB. The results reveal that in local setups Docker creates additional parameter complexity as well as performance overheads, therefore a "no Docker" setup is a better choice. We also observe the dominance of I/O bottlenecks in local setups. These results can help practitioners choose optimal setups for different Development and Operations (DevOps) and big data processing scenarios. © 2024 IEEE.

关键词： Benchmarking

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Evaluation of Range Sensing-based Place Recognition for Long-term Urban Localization

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 1-12页

作者： Ma, Weixin Yin, Huan Yao, Lei Sun, Yuxiang Su, Zhongqing Department of Mechanical Engineering The Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong Department of Electrical and Electronic Engineering The Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong Department of Mechanical Engineering City University of Hong Kong Kowloon Hong Kong

Place recognition is a critical capability for autonomous vehicles. It matches current sensor data with a pre-built database to provide coarse localization results. However, the effectiveness of long-term place recognition may be degraded by environment changes, such as seasonal or weather changes. To have a deep understanding of this issue, we conduct a comprehensive evaluation study on several state-of-the-art range sensing-based (i.e., LiDAR and radar) place recognition methods on the Borease dataset, which encapsulates long-term localization scenarios with stark seasonal variations and adverse weather conditions. In addition, we design a novel metric to evaluate the influence of matching thresholds on place recognition performance for long-term localization. Our results and findings provide fresh insights to the community and potential directions for future study. IEEE

关键词： Optical radar

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A review of Multisensor Fusion techniques used in the development of Mobile Robotic Systems 8

A review of Multisensor Fusion techniques used in the develo...

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8th International Conference on Robotics and Automation engineering, ICRAE 2023

作者： Chandrasekaran, Balasubramaniyan Florida Polytechnic University Department of Electrical and Computer Engineering LakelandFL United States

ISBN: (纸本)9798350327656

Robotics is a multi-disciplinary field that involves the use of multiple sensors for the application. These sensors can be of the same type or different types and measure various attributes of the environment. In this paper, a review of some of the multi sensor fusion techniques used to combine the data from the sensors for the development of robotic systems is presented. © 2023 IEEE.

关键词： Sensor data fusion

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Bi-level Optimal Planning of Voltage Regulator in Distribution Systems Considering Maximization of Incentive-based Photovoltaic Energy Integration

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CSEE Journal of Power and Energy Systems 2023年第6期9卷 2008-2017页

作者： Xu Xu Youwei Jia Chun Sing Lai Minghao Wang Zhao Xu Department of Electrical and Electronic Engineering Southern University of Science and TechnologyShenzhenChina Department of Electrical Engineering The Hong Kong Polytechnic UniversityHung HomHong Kong SARChina Department of Electrical and Electronic Engineering University Key Laboratory of Advanced Wireless Communications of Guangdong ProvinceSouthern University of Science and TechnologyShenzhen 515100China Department of Electronic and Computer Engineering Brunel Institute of Power SystemsBrunel University LondonLondonUB83PH United Kingdom Department of Electrical Engineering Shenzhen Research InstituteThe Hong Kong Polytechnic UniversityHung HomHong Kong SARChina

This paper focuses on optimal voltage regulator(VR)planning to maximize the photovoltaic(PV)energy integration in distribution *** describe the amount of dynamic PV energy that can be integrated into the power system,the concept of PV accommodation capability(PVAC)is introduced and modeled with *** proposed planning model is formulated as a Benders decomposition based bi-level stochastic optimization *** the upper-level problem,VR planning decisions and PVAC are determined via mixed integer linear programming(MILP)before considering *** in the lower-level problem,the feasibility of first-level results is checked by critical network constraints(*** magnitude constraints and line capacity constraints)under uncertainties considered by time-varying loads and PV *** this paper,these uncertainties are represented in the form of operational scenarios,which are generated by the Gaussian copula theory and reduced by a well-studied backward-reduction *** modified IEEE 33-node distribution grid is utilized to verify the effectiveness of the proposed *** results demonstrate that a PV energy integration can be significantly enhanced after optimal voltage regulator planning.

关键词： Bi-level stochastic optimization problem critical network constraints photovoltaic energy integration uncertainties voltage regulator planning

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A Survey of Path Planning and Navigation in Multi-Robotic Systems 1

A Survey of Path Planning and Navigation in Multi-Robotic Sy...

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1st International Conference on Advanced engineering and Technologies, ICONNIC 2023

作者： Chandrasekaran, Balasubramaniyan Florida Polytechnic University Department of Electrical and Computer Engineering LakelandFL United States

ISBN: (纸本)9798350306484

Robotics is a interdisciplinary field and has seen a lot of development recently. Applications utilize multiple robots to achieve the tasks, so the concept of multi-robots is gaining popularity. Navigation and Path planning become an important topic for multi-robotic systems. In this paper, a review of some of the navigation and path planning used in multi-robot systems is presented. This is a work in progress and the next step of the research is to use this survey to develop a customized multi-robotic system for navigation in a crop field. © 2023 IEEE.

关键词： Navigation

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System Design and Validation of a Decentralized Automated Vehicle Compute System for Energy Efficiency

System Design and Validation of a Decentralized Automated Ve...

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2023 IEEE International Automated Vehicle Validation Conference, IAVVC 2023

作者： Kothari, Aadi Gerdes, Ryan Billington, Thomas Jaggannagari, Rohan Virginia Polytechnic Institute and State University Department of Electrical and Computer Engineering Blacksburg United States Virginia Polytechnic Institute and State University Department of Electrical and Computer Engineering Arlington United States Virginia Polytechnic Institute and State University Department of Computer Science Blacksburg United States

ISBN: (纸本)9798350322538

With the rise of Artificial Intelligence (AI), Connected and Automated Vehicles (CAVs) have made significant strides towards improving road safety. These advancements have also made driving easier and more energy efficient. With the advanced perception capabilities provided by Vehicle-To-Everything (V2X) radios, vision, LiDAR, and radar sensors, CA V s can detect potential hazards earlier than traditional vehicles. However, advanced sensing requires greater computational resources, increasing power consumption and straining the vehicle's compute device(s). As the demand for power increases, electric vehicles (EV s) lose their valuable range, reducing their appeal to customers. As the High Voltage (HV) system powers the compute, the inclusion of powerful Graphical Processing Units (GPUs) can take away from the valuable range and may not fully warrant their utilization for most automated vehicle systems. We propose a technique to identify microcontroller boards that are powered by the system's Low Voltage (LV) battery, supporting efficient hardware acceleration on the edge. This would enable EV s to support advanced computing capabilities without compromising the range. © 2023 IEEE.

关键词： Energy efficiency

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