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International Conference on Information Technology (INCIT)

作者： P. Saeng-On P. Phanomupatum S. Sonasang M. Jamsai R. Phromloungsri Electronics and Intelligent Robotics Nakhon Phanom University Nakhon Phanom Thailand Electrical Engineering Rajamagala University of Technology Isan Sakon Nakhon Campus Sakon Nakhon Thailand Computer and Communication Engineering UdonThani Rajabhat University Udon Thani Thailand

This article focuses on the study and improvement of a Wilkinson power divider (WPD) circuit design to a complex size. The enhancement process primarily concentrates on the circuit’s structure, inserted using microstrip coupled lines with inductor compensation at centre coupled lines. The involves detailed design and simulation using Sonnet Lite TM software at 0.9GHz frequency on FR4 substrate. Experimental results indicate that the insertion loss values for $S_{12}$ and $S_{13}$ are approximately $-3.12 \mathrm{~dB}$, return loss values for $S_{11}, S_{22}$, and $S_{33}$ A comparison between the modified WPD and the conventional design shows that the insertion loss and isolation loss can be reduced by more than $-20 \mathrm{~dB}$ within the electrical length $(\theta)$ of the parallel coupled microstrip lines.

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Tracking performance and disturbance rejection of pneumatic actuator system

Tracking performance and disturbance rejection of pneumatic ...

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Asian Control Conference

作者： Sy Najib Sy Salim Z. H. Ismail M. F. Rahmat A. A. M. Faudzi N. H. Sunar Sharatul Izah Samsudin Department of Control Instrumentation and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malaysia Department of Control and Mechatronic Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia Centre for Artificial Intelligence & Robotics (CAIRO) Universiti Teknologi Malaysia Kuala Lumpur Malaysia Department of Industrial Electronics Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Melaka Malaysia

This paper investigates several control strategies that potential to perform well in regulating and tracking set point of pneumatic actuator system and able to reject disturbance. The system consists of 5-port proportional valve with the dead-band flow and double rod cylinders that exhibit significant friction. Two control strategies of PID and NPID controllers with four different configurations with and without dead-zone compensators (DZC) are simulated. Three different input signals including step, sinusoidal and random waveforms are used to evaluate the performance of the proposed techniques. The effectiveness of NPID+DZC has been successfully demonstrated and proved through simulation and experimental studies.

关键词： Friction Pneumatic actuators Valves Simulation Pneumatic systems Force

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IoT based Truck Wheel Temperature Monitoring System

IoT based Truck Wheel Temperature Monitoring System

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Intelligent Technologies (ACOIT), Asian Conference on

作者： Mohd Zaid Nadeem Ahmad Mohammed Aljamal Sarosh Patel Asif Khan dept. of Computer Science and Engineering Integral University Lucknow India dept. of Electronics and communication Engg Goel Institute of Technology And Managment Lucknow India School of Engineering University of Bridgeport USA dept. of Computer Application Integral Robotics Lab Integral University Lucknow India

ISBN: (数字)9798350374957

ISBN: (纸本)9798350374964

The main objective of this paper is to design an IoT based truck wheel temperature monitoring system using Arduino board with the aim to overcome endanger and raise the safety measures for truck and goods. By designing and implementing a temperature-detecting system, we can detect the temperature of the wheels trucks. By the use of such detecting device we can prevent the major problem associated with wheel’s temperature and may avoid the major accidents. This monitoring system senses the temperature data of the wheel and transmits through the Wi-Fi module. In addition, it upgrades Thingspeak channel that can collect the data and it can easily be accessed by the transport agency and the truck driver. This can further be analysed using any computer system or mobile with internet connectivity anywhere across the globe to take real-time decision. The core function of the proposed detecting system is to monitor the real- time value of truck wheel temperature and to inform the concerned people.

关键词： Temperature measurement Temperature sensors Temperature distribution Vehicle safety Wheels Weather forecasting Transportation Real-time systems Monitoring Wireless fidelity

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Robust Online Model Adaptation by Extended Kalman Filter with Exponential Moving Average and Dynamic Multi-Epoch Strategy

arXiv

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arXiv 2019年

作者： Abuduweili, Abulikemu Liu, Changliu School of Electronics Engineering and Computer Science Peking University BeijingP. R.100871 China Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

High fidelity behavior prediction of intelligent agents is critical in many applications. However, the prediction model trained on the training set may not generalize to the testing set due to domain shift and time variance. The challenge motivates the adoption of online adaptation algorithms to update prediction models in real-time to improve the prediction performance. Inspired by Extended Kalman Filter (EKF), this paper introduces a series of online adaptation methods, which are applicable to neural network-based models. A base adaptation algorithm Modified EKF with forgetting factor (MEKFλ) is introduced first, followed by exponential moving average filtering techniques. Then this paper introduces a dynamic multi-epoch update strategy to effectively utilize samples received in real time. With all these extensions, we propose a robust online adaptation algorithm: MEKF with Exponential Moving Average and Dynamic Multi-Epoch strategy (MEKFEMA-DME). The proposed algorithm outperforms existing methods as demonstrated in experiments. Copyright © 2019, The Authors. All rights reserved.

关键词： Extended Kalman filters

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Monetizing edge service in mobile internet ecosystem

arXiv

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arXiv 2020年

作者： Wang, Zhiyuan Gao, Lin Wang, Tong Luo, Jingjing School of Electronics and Information Engineering Harbin Institute of Technology Shenzhen China Department of Computer Science and Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

In mobile Internet ecosystem, Mobile Users (MUs) purchase wireless data services from Internet Service Provider (ISP) to access to Internet and acquire the interested content services (e.g., online game) from Content Provider (CP). The popularity of intelligent functions (e.g., AI and 3D modeling) increases the computation-intensity of the content services, leading to a growing computation pressure for the MUs’ resource-limited devices. To this end, edge computing service is emerging as a promising approach to alleviate the MUs’ computation pressure while keeping their quality-of-service, via offloading some computation tasks of MUs to edge (computing) servers deployed at the local network edge. Thus, Edge Service Provider (ESP), who deploys the edge servers and offers the edge computing service, becomes an upcoming new stakeholder in the ecosystem. In this work, we study the economic interactions of MUs, ISP, CP, and ESP in the new ecosystem with edge computing service, where MUs can acquire the computation-intensive content services (offered by CP) and offload some computation tasks, together with the necessary raw input data, to edge servers (deployed by ESP) through ISP. We first study the MU’s Joint Content Acquisition and Task Offloading (J-CATO) problem, which aims to maximize his long-term payoff. We derive the off-line solution with crucial insights, based on which we design an online strategy with provable performance. Then, we study the ESP’s edge service monetization problem. We propose a pricing policy that can achieve a constant fraction of the ex post optimal revenue with an extra constant loss for the ESP. Numerical results show that the edge computing service can stimulate the MUs’ content acquisition and improve the payoffs of MUs, ISP, and CP. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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Extension Principle and Controller Design for Nonlinear Systems

Extension Principle and Controller Design for Nonlinear Syst...

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European Control Conference (ECC)

作者： Altuğ İftar Farshad Khorrami Department of Electrical and Electronics Engineering Eskişehir Technical University Eskişehir Turkey Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) New York University 5 Metrotech Center Brooklyn NY U.S.A.

We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.

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Cost-Aware Hierarchical Federated Learning via Over-the-Air Computing

Cost-Aware Hierarchical Federated Learning via Over-the-Air ...

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GLOBECOM 2022 - 2022 IEEE Global Communications Conference

作者： Donglin Xue Jingjing Luo Changkun Jiang Lin Gao School of Electronics and Information Engineering Harbin Institute of Technology Shenzhen China National Mobile Communications Research Laboratory Southeast University China Department of Computer Engineering Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781665435413

Federated Learning (FL) is a novel distributed learning framework to train the global model locally without collecting the raw data of clients. However, the performance of FL is greatly restricted by the limited network communication capacity between the cloud and clients. MEC-assisted Hierarchical Federated Learning (HFL) can effectively relieve the network pressure in FL, by transmitting and aggregating model parameters at the network edge based on the idea of Mobile Edge Computing (MEC). The existing researches on HFL often adopt the traditional multiple access techniques (e.g., OFDMA) for the model transmission between clients and edge servers, which may be inefficient. In this work, we consider a novel Over-the-Air Computing (AirComp) based HFL framework, where clients send model parameters to edge servers simultaneously, and edge servers can directly complete the aggregation of model in the air by exploiting the superposition property of wireless channels. In such a scenario, we study the joint client association, transmission, and computation optimization problem, aiming at minimizing the overall energy consumption and latency. The problem is challenging due to the multi-level coupling between edge servers and clients. We decouple it into a client association subproblem and a resource optimization subproblem. We first show that the second subproblem is convex and can be easily solved by a coordinate descent algorithm. We then show that the first subproblem is a combinational optimization, and propose a near-optimal solution where each client is associated with the nearest edge server. Simulation results show that the AirComp-based HFL scheme outperforms the existing OFDMA-based schemes in terms of both energy consumption and latency.

关键词： Wireless communication Energy consumption Multi-access edge computing Federated learning Computational modeling Atmospheric modeling Simulation

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Robust Lane Marking Detection Algorithm Using Drivable Area Segmentation and Extended SLT

Robust Lane Marking Detection Algorithm Using Drivable Area ...

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IEEE International Conference on robotics and Biomimetics

作者： Umar Ozgunalp Rui Fan Shanshan Cheng Yuxiang Sun Weixun Zuo Yilong Zhu Bohuan Xue Linwei Zheng Qing Liang Ming Liu Electrical and Electronics Engineering Cyprus International University North Cyprus Turkey Department of Electronic and Computer Engineering the Hong Kong University of Science and Technology Hong Kong SAR China Guolu Gaoke Engineering Technology Institute Co. Ltd. Beijing China Robotics and Multiperception Laboratory Robotics Institute the Hong Kong University of Science and Technology Hong Kong SAR China

In this paper, a robust lane detection algorithm is proposed, where the vertical road profile of the road is estimated using dynamic programming from the v-disparity map and, based on the estimated profile, the road area is segmented. Since the lane markings are on the road area and any feature point above the ground will be a noise source for the lane detection, a mask is created for the road area to remove some of the noise for lane detection. The estimated mask is multiplied by the lane feature map in a bird's eye view (BEV). The lane feature points are extracted by using an extended version of symmetrical local threshold (SLT), which not only considers dark light dark transition (DLD) of the lane markings, like (SLT), but also considers parallelism on the lane marking borders. The segmentation then uses only the feature points that are on the road area. A maximum of two linear lane markings are detected using an efficient 1D Hough transform. Then, the detected linear lane markings are used to create a region of interest (ROI) for parabolic lane detection. Finally, based on the estimated region of interest, parabolic lane models are fitted using robust fitting. Due to the robust lane feature extraction and road area segmentation, the proposed algorithm robustly detects lane markings and achieves lane marking detection with an accuracy of 91% when tested on a sequence from the KITTI dataset.

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Research on Natural Environment Protection Based on Blockchain Technology to Facilitate Ecological Balance and Regional Revitalization

Research on Natural Environment Protection Based on Blockcha...

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Industrial IoT, Big Data and Supply Chain (IIoTBDSC), International Conference on

作者： Chenye Wan Taoran Fu Haochen Wang Xing Wang Junyou Luo Ziqian Wang School of Information Science and Technology Nantong University Nantong China School of Computer and Communication Hunan Institute of Engineering Xiangtan China School of Computational Science and Electronics Hunan Institute of Engineering Xiangtan China School of Robotics Hunan University Changsha China

ISBN: (数字)9798350341690

ISBN: (纸本)9798350341706

Now the Masai Mara population continues to expand, the wildlife in the reserve is facing serious threats to their survival. The purpose of this report is to establish a management strategy model for local protected areas that balances the mutual interests between local people and wildlife in ***, Masai Mara divides the protected area into three parts, planting area, protected area, and livestock area, and then conducts correlation analysis on different areas, and concludes that the reduction in the number of wild animals is closely related to the degree of population density, and the area of cultivated land and forest area is highly correlated. So a nonlinear programming model of multiple strategies is established to plan the planting area. Then establish a comprehensive evaluation model based on the entropy weight method, quantify various strategies, and use gray correlation prediction to obtain solutions. This article introduces blockchain related technologies and uses its decentralization, security and transparency to build an architecture that contributes to the actual government protection of wild animals.

关键词： Correlation Biological system modeling Wildlife Habitats Market research Data models Blockchains

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Norm optimal iterative learning control for planar tracking tasks

Norm optimal iterative learning control for planar tracking ...

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11th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2013

作者： Owens, David H. Freeman, Chris T. Chu, Bing Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Department of Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9783902823373

The Iterative Learning Control (ILC) problem in which tracking is only required at a subset of isolated time points along the trial duration has recently gained significant attention since it addresses the practical needs of many *** paper extends the framework by embedding simultaneous iterative convergence of subsets of outputs to reference trajectories on subintervals. This enables it to tackle tasks which mix 'point to point' movements with linear tracking requirements, which substantially broadens the application domain (e.g. to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments). A solution to the problem is presented in the framework of Norm Optimal ILC (NOILC), providing well-defined convergence properties, design guidelines and supporting experimental results. © IFAC.

关键词： Two term control systems

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