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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Henrique N. Poleselo Andre G. S. Conceicao Postgraduate Program in Electrical Engineering Federal University of Bahia Salvador Brazil Department of Electrical and Computer Engineering Federal University of Bahia Salvador Brazil

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Object segmentation is one of the main activities for the robot to create a sense of its environment. This task is a precursor to other activities, such as autonomous navigation in a given environment. Through sensors such as LiDAR, it's possible to generate high-resolution three-dimensional maps of the environment in which the robot is located, thus enabling their interpretation so that tasks such as object segmentation can be performed. In this article, the DBSCAN and HDBSCAN unsupervised clustering methods are explored. Results in a simulated environment in Gazebo together with Robot Operating System ROS framework for capturing sensory data from LiDAR Livox Mid-70 coupled to a mobile robot show the performance of such techniques through comparisons.

关键词： Laser radar Operating systems Clustering methods Object segmentation Robot sensing systems Sensors Mobile robots Autonomous robots

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Environmental Disinfection Based on Mobile Intelligent Networking Highly Efficient Ultraviolet Light Machines

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Aerosol and Air Quality Research 2024年第2期24卷 1-10页

作者： Chung, Chun-Yen Sung, Wen-Tsai Wang, Lin-Chi Siami, Lailatus Santos, John Paul Computer and Game Development Program Kun Shan University Tainan710303 Taiwan Department of Electrical Engineering National Chin-Yi University of Technology Taichung411030 Taiwan Department of Marine Environmental Engineering National Kaohsiung University of Science and Technology Kaohsiung81157 Taiwan Department of Environmental Engineering Chung Yuan Christian University Taoyuan32023 Taiwan Department of Civil Engineering Chung Yuan Christian University Taoyuan32023 Taiwan

Since 2019, the world has suffered from the outbreak of the "Coronavirus Disease (COVID)-19 pandemic. This study used the principle of Ultraviolet (UV)-C disinfection to produce a mobile high-power UV-C sterilizer. It focused on combining intelligent control systems, human sensors, and Internet of Things (IoT) systems to carry out disinfection tasks in unmanned indoor spaces. Because of its mobile nature, the sterilizer could be moved at any time in various learning, research, and activity rooms for disinfection. In addition to manually controlling the sterilizer, a Wi-Fi or Narrowband (NB)-IoT-enabled remote control was provided to start the disinfection process. In order to prevent ultraviolet light from harming the human body, sensors were employed self-acting to detect the presence of people and turn off the ultraviolet light when people were detected in the area. At the same time, a camera on the sterilizer would capture an image and notify the relevant personnel through a LINE notification, to prevent the human body from being exposed to ultraviolet light, causing harm to the teachers and students on campus. During operation, voice broadcast reminders and a status indicator could provide information about the operation status. After disinfection, users could view the disinfection process through a mobile device application or a webpage, which would automatically notify relevant personnel of the disinfection status through a LINE notification. In this way, the disinfection progress could be updated at anytime, anywhere and the current disinfection status in the classroom could be displayed in real-time, allowing teachers and students on campus to carry out teaching and learning in a safe and secure environment. © The Author(s).

关键词： Internet of things

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A Design for Improvement of Visual SLAM in Dynamic Environments Using Feature-Point Removal of Moving Persons

A Design for Improvement of Visual SLAM in Dynamic Environme...

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2023 International Automatic Control Conference, CACS 2023

作者： Song, Kai-Tai Meng, Ching-Hao National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu886-3-5731865 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics College of Engineering Hsinchu Taiwan

ISBN: (纸本)9798350306354

This paper presents a design to improve the robustness of visual SLAM(vSLAM). A processing step of feature-removal is added to the tracking thread of the conventional ORB-SLAM2 algorithm to improve the localization accuracy of a mobile robot in an environment with moving persons. Instance segmentation and motion tracking are intergrated to identify motion state of people in an image. ORB feature points belonging to moving persons are removed for further processing of the vSLAM pipeline. The advantage of this method is that the vSLAM can remove feature points of moving people, while retain those belonging to static people in the environment, which improves the accuracy of robot pose estimation. The improved ORB-SLAM2 algorithm has been implemented in a NVIDIA Xavier embedded system, which is integrated to a mobile robot. In practical robot navigation experiments, the average positioning error of the proposed method is within 4cm for 22.4m travel distance. Compared with conventional ORB-SLAM2, the average accuracy of our vSLAM method improves 97% in a dynamic environment with moving people. © 2023 IEEE.

关键词： Mobile robots

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Text-to-Speech User Interface for ChatGPT 4

Text-to-Speech User Interface for ChatGPT

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4th International Conference on Electronic and electrical engineering and Intelligent System, ICE3IS 2024

作者： Suni, Alfa Faridh Utomo, Aryo Baskoro Fathoni, Khoiruddin Mahendra, Budiandra Yusuf Seinsiani, Izzati Gemi Hastawan, Ahmad Fashiha Universitas Negeri Semarang Computer Engineering Semarang Indonesia Universitas Negeri Semarang Electrical Engineering Semarang Indonesia Universitas Negeri Semarang Information Technology Education Semarang Indonesia Universitas Negeri Semarang English Literature Study Program Semarang Indonesia

ISBN: (纸本)9798350378368

The emergence of OpenAI's ChatGPT is paying a lot of attention to Generative AI and its impact on Academic integrity. Generative AI is a system designed to generate content or output such as text, image, audio, simulation, video and code based on their respective training data. ChatGPT itself is in the form of a chatbot where users can communicate with AI through dialogue applications via text. GPT 3 API is the technology behind the ChatGPT. However, interaction via text is not as flexible as dialogue using voice. Therefore, speech-to-text technology is needed to interface between the user and the AI. Chatbot AI powered by GPT3 with the optional voice UI powered by Google Text to Speech clearly benefits accessibility and usability. The output of dialogue between human users and AI can be done through text or sound. This research attempts to implement a Text to Speech and vice versa Speech to Text as a User Interface on a Gen-AI using the GPT 3 API so that it will be more user-friendly and accessible. This research opens many possibilities for human-AI interaction (HAX) in implementing virtual assistants. A seamless dialogue between humans and AI will be our goal in the future. © 2024 IEEE.

关键词： ChatGPT Generative AI Speech to Text Text to Speech

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Improving electrically Evoked Compound Action Potential Based on electrical Field Imaging and Electrode Interfaces

Improving Electrically Evoked Compound Action Potential Base...

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IEEE Conference on Electromagnetic Field Computation

作者： Charles T.M. Choi Chun Ting Ke Jelani Lawrence Alexander C. C. Wang Department of Electronics and Electrical Engineering College of Electrical & Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Institute of Electrical and Control Engineering College of Electrical & Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Institute of Biomedical Engineering College of Electrical & Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Electrical Engineering & Computer Science International Graduate Program College of Electrical & Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9798350348958

ISBN: (纸本)9798350348965

The electrically evoked compound action potential (ECAP) has been used in various clinical studies and has become a key physiological signal for cochlear implants (CI). This study used four sensing electrodes to record ECAP signals based on the alternating polarity approach. An electrical field imaging (EFI) result based on the finite element method was used to obtain the interface impedance, then ECAP simulation results were computed and compared with a patient's clinical ECAP measurements. Preliminary modeling results show that the interface impedance obtained by this EFI-based technique can improve the simulation accuracy of the ECAP model. The ECAP modeling result will be compared with clinical ECAP measurements to validate the model in the full paper.

关键词： Electrodes Action potentials Impedance measurement Computational modeling Simulation Imaging Finite element analysis

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Text2PointCloud: Text-Driven Stylization for Sparse PointCloud

Text2PointCloud: Text-Driven Stylization for Sparse PointClo...

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44th Annual Conference on European Association for computer Graphics, EUROGRAPHICS 2023

作者： Hwang, Inwoo Kim, Hyeonwoo Lim, Donggeun Park, Inbum Kim, Young Min Seoul National University Department of Electrical and Computer Engineering Korea Republic of Seoul National University Interdisciplinary Program in Artificial Intelligence and INMC Korea Republic of

ISBN: (纸本)9783038682097

We present Text2PointCloud, a method to process sparse, noisy point cloud input and generate high-quality stylized output. Given point cloud data, our iterative pipeline stylizes and deforms points guided by a text description and gradually densifies the point cloud. As our framework utilizes the existing resources of image and text embedding, it does not require dedicated 3D datasets with high-quality textures, which are produced by skillful artists or high-resolution colored 3D models. Also, since we represent 3D shapes as a point cloud, we can visualize fine-grained geometric variations with a complex topology such as flowers or fire. To the best of our knowledge, it is the first approach for directly stylizing the uncolored, sparse point cloud input without converting it into a mesh or implicit representation, which might fail to express the original information in the measurements, especially when the object exhibits complex topology. © 2023 Authors.

关键词： Textures

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Control of an Underactuated Quadrotor Using LQR and Visual Markers

Control of an Underactuated Quadrotor Using LQR and Visual M...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Gabriel Fernandes Andre G. S. Conceicao Humberto X. De Araújo Postgraduate Program in Electrical Engineering Federal University of Bahia Salvador Brazil Department of Electrical and Computer Engineering Federal University of Bahia Salvador Brazil

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

In this study, a robust Linear Quadratic Regulator (LQR) controller was developed and evaluated for the Bebop 2 quadrotor drone. Polytopic uncertainties in the dynamic model were taken into account in the control design, ensuring robustness. The drone's localization was achieved using fiducial markers and a Kalman Filter for state estimation, integrating visual and positional data. The controller design utilized Linear Matrix Inequalities (LMIs) to optimize performance while accounting for system constraints. A circular trajectory in three-dimensional space was employed to assess the controller's effectiveness in simulation. Results demonstrated precise trajectory tracking, stability, and robust performance despite parameter uncertainties. These findings highlight the applicability of the proposed framework for real-world scenarios involving underactuated UAVs.

关键词： Location awareness Visualization Uncertain systems Uncertainty Trajectory tracking Stability analysis Trajectory Vehicle dynamics Quadrotors Drones

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Machine Learning for Unmanned Aerial Vehicles Navigation: An Overview

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SN computer Science 2024年第2期5卷 256页

作者： Fagundes-Junior, Leonardo A. de Carvalho, Kevin B. Ferreira, Ricardo S. Brandão, Alexandre S. Núcleo de Especialização em Robótica Department of Electrical Engineering Graduate Program in Computer Science Federal University of Viçosa-UFV Av. Petter Henry Rolfs MG Viçosa 36570-900 Brazil

Unmanned aerial vehicles (UAVs) are a valuable source of data for a wide range of real-time applications, due to their functionality, availability, adaptability, and maneuverability. Working as mobile sensors, they can provide a cost-effective solution for extremely complex tasks, such as inspection, air-to-ground communications, search and rescue, surveillance, among others. Nevertheless, the robots needs to navigate in quite distinct environments and in different dynamism levels, usually facing unpredicted situations, very often using limited sensing and computing capabilities. A large number of solutions to this problem has been featured by the scientific community in the last years, some of them based on machine-learning (ML) methods. Due to its great capability to deal with big data and complexity, as well as its speedy and high-accuracy processing, the ML framework has been used to improve existing technologies and control techniques. In this context, its adoption in several UAV navigation strategies is expected to provide solutions for various problems where UAVs are used in real-time applications. Thus, in order to contextualize the most recent advances, this work provides a detailed survey of relevant researches in which ML techniques have been used in UAV navigation to improve some functional aspects, such as energy-efficiency, communication, execution time, resource management, obstacle avoidance, and path planning. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2024.

关键词： Autonomous navigation Path planning UAV-based solutions Visual-based navigation

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A Discontinuous Galerkin Time-Domain Scheme to Simulate Semiconductor Lasers

A Discontinuous Galerkin Time-Domain Scheme to Simulate Semi...

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European Conference on Antennas and Propagation, EuCAP

作者： Ming Dong Liang Chen Ran Zhao Hakan Bagci Electrical and Computer Engineering Program Computer Electrical and Mathematical Science and Engineering Division King Abdullah University of Science and Technology Thuwal Saudi Arabia

A computational framework, which relies on the discontinuous Galerkin time-domain scheme, is proposed to simulate transient lasing generated by interactions of light with an active medium. The proposed scheme solves a coupled system of the Maxwell and the rate equations. The active medium inside the laser region is described quantum-mechanically by the rate equations to account for the atomic transitions of a multi-level system, while electromagnetic field interactions are described classically by the Maxwell equations. Numerical examples are provided to demonstrate the accuracy and the applicability of the proposed framework.

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A Feasibility Study: Magnetic Field Monitoring in Cycled Lead Acid Cells for Stationary Applications

A Feasibility Study: Magnetic Field Monitoring in Cycled Lea...

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IEEE electrical Energy Storage Application and Technologies Conference (EESAT)

作者： Scarleth Vasconcelos Pritpal Singh Ross Lee Sustainable Engineering Program Villanova University Villanova USA Dept of Electrical and Computer Engineering Villanova University Villanova USA

ISBN: (数字)9798331524852

ISBN: (纸本)9798331536411

This research introduces a novel, real-time, non-invasive, non-destructive, and accurate method for battery mon-itoring using magnetic field mapping. This technique detects stratification in flooded Lead Acid Batteries at different states of charge, providing early notification by monitoring variations in hydrogen ion concentration during cycling. The study tracked pH and magnetic field variations across $H_{2}SO_{4}$ electrolyte specific gravities ranging from 1.07 to 1.33, showing a 17%-20% pH reduction over 12 hours, indicating acid stratification. A proof-of-concept using air-core solenoid coils demonstrated a direct correlation between secondary coil output voltage and $H_{2}SO_{4}$ concentrations, influenced by the induced magnetic field at the primary coil and electrolyte concentration changes. The optimal AC input frequency for maximizing the induced magnetic field mapping response was identified as 30–33 kHz, depending on the physical properties of the magnetic field inductors. An inverse correlation was also observed between the induced magnetic field and the distance between the coils. This approach offers a promising alternative for lead acid battery monitoring, potentially improving battery management and lifespan. The experimental tests also included monitored variations in secondary coil output voltage in a single flooded lead acid cell during cycling. The preliminary results demonstrated a decrease in the magnetic field during charge and an increase during discharge.

关键词： Coils Lead acid batteries Correlation Voltage measurement Electrolytes Discharges (electric) Lead compounds Magnetic fields Solenoids Monitoring

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