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International Conference on Software engineering Research, Management and Applications (SERA)

作者： Le Yang Yongsun Choi Changjun Seo Tongfeng Yang MinSung Kim Department of Systems Management & Engineering Inje University South Korea Department of Electronics and Intelligent Robotics Engineering Inje University South Korea Department of Computer Science and Technology Shandong University China Department of Information & Communications Engineering Tongmyong University South Korea

Graphical user interface (GUI) for applications of embedded devices (ED) has been increasingly in demand. Rapid GUI development tools are being required more than ever. However, traditional way of GUI development for ED applications has some limitation in support of visual environment and blocks rapid development. In this paper, we introduce a new mini visual IDE, called VY, which supports rapid development utilizing control library, and simulation of GUI. VY can realize the development of GUI in ED efficiently by means of "what you see is what you get"(WYSIWYG). It consists of five modules: simulator, control library, script complier, script virtual machine (SVM) and visual window. By utilizing the hardware-independent control library of graphical interfaces, an attractive GUI can be produced with much less script effort on the visual window. Then, the script file is compiled into script data (including instructions) which will be executed by the SVM with visiting system calls in ED, and the Simulator will display the resulting GUI. After all these steps, the final GUI can be downloaded into the ED system. In this way, VY supports rapid development of hardware-independent GUI for ED applications on a visual metaphor.

关键词： Graphical user interfaces Libraries Application software Design engineering Virtual machining Support vector machines Conference management Research and development management Software development management Technology management

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Dynamic process initial conditions in repetitive processes. Controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and Control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability.

关键词： Stability Controllability System testing Control system analysis Algorithm design and analysis Control systems Boundary conditions Process control Standards development Linear systems

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Deep learning model generalization with ensemble in endoscopic images 3

Deep learning model generalization with ensemble in endoscop...

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3rd International Workshop and Challenge on computer Vision in Endoscopy, EndoCV 2021

作者： Hong, Ayoung Lee, Giwan Lee, Hyunseok Seo, Jihyun Yeo, Doyeob Robotics Engineering Convergence Chonnam National University Gwangju Korea Republic of Department of AI Convergence Chonnam National University Gwangju Korea Republic of Daegu-Gyeongbuk Medical Innovation Foundation Daegu Korea Republic of Department of Computer Convergence Software Korea University Sejong Korea Republic of Electronics and Telecommunications Research Institute Daejeon Korea Republic of

Owing to the rapid development of deep learning technologies in recent years, autonomous diagnostic systems are widely used to detect abnormal lesions such as polyps in endoscopic images. However, the image characteristics, such as the contrast and illuminance, vary significantly depending on the center from which the data was acquired;this affects the generalization performance of the diagnostic method. In this paper, we propose an ensemble learning method based on k-fold cross-validation to improve the generalization performance of polyp detection and polyp segmentation in endoscopic images. Weighted box fusion methods were used to ensemble the bounding boxes obtained from each detection model trained for data from each center. The segmentation results of the data center-specific model were averaged to generate the final ensemble mask. We used a Mask R-CNN-based model for both the detection and segmentation tasks. The proposed method achieved a score of 0.7269 on the detection task and 0.7423 ± 0.2839 on the segmentation task in Round 1 of the EndoCV2021 challenge. © 2021 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Image enhancement

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A Fuzzy Logic Controller for a Photovoltaic System Relying on a Closed-Loop DC-DC Converter

A Fuzzy Logic Controller for a Photovoltaic System Relying o...

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International Conference on Science Technology engineering and Management (ICONSTEM)

作者： B. Chandrashekar Jayarama Pradeep Muthukumaran. M M. Sivasubramanian K. Lakshmi Khandan Joshuva Arockia Dhanraj Department of Computer Science Engineering St Martin's Engineering College Hyderabad Telangana India Department of Electrical and Electronics Engineering St. Joseph's College of Engineering Chennai Tamil Nadu India Department of Electrical and Electronics Engineering Karpagam college of Engineering Coimbatore Tamil Nadu Department of Electrical and Electronics Engineering Srivenkateswara College of Engineering and Technology Thiruvallur Tamil Nadu India Department of Electrical and Electronics Engineering Madanapalle Institute of Technology and Science Madanapalle Andhra Pradesh India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

ISBN: (数字)9798350365092

ISBN: (纸本)9798350365108

A DC-DC converter that can handle a lot of different power changes. The experts in this study discovered that adding a fuzzy logic circuit helped the system work better. It makes a big difference in how well and consistently the PV system works that the FLC controls the output power of the converter. Because the FLC works with Microsoft Excel, more people can use this powerful tool for less money and with less trouble. The FLC cuts down on “overshoot,” “settling time,” and steady-state error, as shown in simulations that test how well the controller works. This study may have made it easier for people to start making “fuzzy logic controllers” and make them better. This will have a big effect on how far we get in making energy systems that work better and are more stable. Further investigation could be conducted to determine whether or not these concepts are feasible and how they would enhance the FLC in different types. These DC-DC converters have closed loops in their circuitry.

关键词： Fuzzy logic Photovoltaic systems DC-DC power converters Control systems Energy efficiency Steady-state Spreadsheet programs

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Guo, Dejun Wang, Hesheng Chen, Weidong Liu, Ming Xia, Zeyang Leang, Kam K. Lab University of Utah Robotics Center Salt Lake CityUT84112 United States Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Institute of Biomedical and Health Engineering Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781509046331

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： Mobile robots

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Virtual Cancelation Plume for Multiple Odor Source Localization

Virtual Cancelation Plume for Multiple Odor Source Localizat...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goncalo Cabrita Lino Marques Veysel Gazi Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra 3030-290 Coimbra Portugal Department of Electrical and Electronics Engineering Istanbul Kemerburgaz University Mahmutbey Dilmenler Caddesi No: 26 34217 Bagcilar Istanbul Turkey

ISBN: (纸本)9781467363563

This article presents a novel algorithm for multiple odor source localization by a multi-robot system based on a virtual cancelation plume approach. The proposed method is based on rendering a previously declared odor source invisible to the robots so that the declared source and the odor plume it generates do not interfere with the effects of other existing plumes, allowing the localization of the remaining sources. Exploration and plume tracking by the robots is achieved using a decentralized asynchronous particle swarm optimization algorithm. The divergence operator is used to declare the odor sources. A set of simulations and real world experiments are performed on two different scenarios on a controlled environment using a swarm of 5 robots to validate the proposed methodology. Results show that the virtual plume cancelation algorithm can be successfully used to find multiple odor sources, even when two plumes overlap. It can also extend the operation of many odor source localization algorithms developed for single source localization.

关键词： Position measurement Smell Robot Odor dike swarms Controlled Environment Virtual multi-robot systems particle swarm algorithm

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Terahertz Communications and Sensing Overview

Terahertz Communications and Sensing Overview

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Advancement in electronics & Communication engineering (AECE), International Conference on

作者： Ramiz Salama Chadi Altrjman Fadi Al-Turjman Satya Prakash Yadav Satvik Vats Richa Gupta Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT. Near East University Nicosia TURKIYE Department of Chemical Engineering Waterloo University ON Canada Artificial Intelligence Engineering Dept AI and Robotics Institute Near East University Nicosia Turkey Department of Computer Science and Engineering G.L. Bajaj Institute of Technology and Management(GLBITM) Greater Noida India Department of Computer Science and Engineering Graphic Era Hill University Dehradun India Department of Electronics & Communication Engineering Raj Kumar Goel Institute of technology

Terahertz (THz) (0.1-10 THz) wireless communication is one of the cornerstones of the next 6G wireless networks. THz frequencies have the ability to dramatically increase wireless capacity performance and enable high-resolution environment sensing if applied properly due to the enormous quantity of accessible bandwidth. However, the usage of wireless devices in high-frequency bands like THz is constrained by a very unpredictable and dynamic channel. The ultimate result is essentially unreliable intermittent connections since these channel constraints have a naturally restricted communication range and a high susceptibility to blocking and chemical absorption. Because of this, the THz band's potential for high-rate communications and high-resolution sensing may be hindered. This study thoroughly examines the steps necessary to build up and operate next-generation THz wireless networks that will work together to deliver a variety of communication and sensing services in this environment. We first lay the groundwork for this by defining the THz frequency range's fundamentals. Using these fundamentals as a foundation, we outline and carefully investigate seven specific qualities that characterize THz wireless systems: Some of the subjects discussed include the quasi-opticality of the band, wireless architectures suited for THz, synergy with lower frequency bands, cooperative sensing and communication systems, PHY-layer protocols, spectrum access techniques, and real-time network optimization. These seven distinctive features enable our understanding of how to re-engineer wireless systems as we know them today to fit THz bands and their specific settings. On the one hand, THz systems make use of its quasi-optimality and may turn any sensing opportunity into a communication problem, aiding in the development of a new breed of flexible wireless systems that can do many jobs beyond straightforward communications. THz systems can alternatively use intelligent surfaces, lower

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System design and locomotion of SUPERball, an untethered tensegrity robot

System design and locomotion of SUPERball, an untethered ten...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andrew P. Sabelhaus Jonathan Bruce Ken Caluwaerts Pavlo Manovi Roya Fallah Firoozi Sarah Dobi Alice M. Agogino Vytas SunSpiral NASA Ames Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab CA USA Department of Mechanical Engineering University of California Berkeley USA Department of Computer Engineering University of California Santa Cruz USA Electronics and Information Systems Department Ghent University Oak Ridge TN Belgium

ISBN: (纸本)9781479969241

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent robotics Group and the Dynamic Tensegrity robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

关键词： Robots Sensors Power cables Brushless DC motors Actuators

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MambaMOS: LiDAR-based 3D Moving Object Segmentation with Motion-aware State Space Model

arXiv

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arXiv 2024年

作者： Zeng, Kang Shi, Hao Lin, Jiacheng Li, Siyu Cheng, Jintao Wang, Kaiwei Li, Zhiyong Yang, Kailun College of Computer Science and Electronic Engineering Hunan University Changsha China College of Optical Science and Engineering Zhejiang University Hangzhou China School of Robotics Hunan University Changsha China School of Electronics and Information Engineering South China Normal University Foshan China

LiDAR-based Moving Object Segmentation (MOS) aims to locate and segment moving objects in point clouds of the current scan using motion information from previous scans. Despite the promising results achieved by previous MOS methods, several key issues, such as the weak coupling of temporal and spatial information, still need further study. In this paper, we propose a novel LiDAR-based 3D Moving Object Segmentation with Motion-aware State Space Model, termed MambaMOS. Firstly, we develop a novel embedding module, the Time Clue Bootstrapping Embedding (TCBE), to enhance the coupling of temporal and spatial information in point clouds and alleviate the issue of overlooked temporal clues. Secondly, we introduce the Motion-aware State Space Model (MSSM) to endow the model with the capacity to understand the temporal correlations of the same object across different time steps. Specifically, MSSM emphasizes the motion states of the same object at different time steps through two distinct temporal modeling and correlation steps. We utilize an improved state space model to represent these motion differences, significantly modeling the motion states. Finally, extensive experiments on the SemanticKITTI-MOS and KITTI-Road benchmarks demonstrate that the proposed MambaMOS achieves state-of-the-art performance. The source code is publicly available at https://***/Terminal-K/MambaMOS. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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