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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Toedtheide, Alexander Shahriari, Erfan Haddadin, Sami Institute of Automatic Control Faculty of Electrical Engineering and Computer Science Institute of Automatic Control Leibniz Universität Hannover Appelstr. 11 HannoverD-30167 Germany

ISBN: (纸本)9781509046331

In this paper the concept of a unified torque/impedance controller is applied to a pneumatically actuated, antagonistic robot joint. The investigated control algorithm consists of a cascaded structure in which the outer torque/impedance controller commands a desired torque to two cylinder-based force controllers. The torque-/impedance controller is equipped with a virtual tank that ensures passivity of the control loops above force level. Additionally, a shaping function provides a continuous transition to impedance control in case of sudden contact loss during a torque control operation. External torques used in the feedback loop for contact force regulation are estimated by a momentum observer. Experimental and simulation results show a maximum deflection of 9.7° over 130 ms in case of contact loss until a resting position is reached. Additionally, step and sinusoidal torque tracking up to 5 Hz was successfully tested at good performance. © 2017 IEEE.

关键词： Torque

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Using Cloud and Mobile Technologies in the Hospitality Industry

Using Cloud and Mobile Technologies in the Hospitality Indus...

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Roedunet International Conference (RoEduNet)

作者： Ioan - Radu JINGA Laurentiu-Florin BOTEZATU Ioana CULIC Alexandru RADOVICI Faculty of Automatic Control and Computer “Politehnica” University of Bucharest Bucharest Romania Faculty of Engineering in Foreign Languages “Politehnica” University of Bucharest Bucharest Romania Research Department Wyliodrin Bucharest Romania Department of Computer Engineering “Politehnica” University of Bucharest Bucharest Romania

Although the expansion rate of the technology mixed with other domains is growing, restaurant industry has, on average, little to no technical solutions for the common problems of their business. A specific problem is the time consuming and ineffective methods of calculating the bill for every person at the table. In this paper, we describe an automatic and efficient solution for this problem, a platform that digitally extracts the products from the bill, no matter the structure of it and allows users to select the items they ordered.

关键词： Optical character recognition software Mobile applications Google History Real-time systems Industries Libraries

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automatic language identification for romance languages using stop words and diacritics: Tool/experimental paper

arXiv

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arXiv 2018年

作者： Truicǎ, Ciprian-Octavian Velcin, Julien Boicea, Alexandru Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania University of Lyon ERIC Laboratory Lyon 2 Lyon France

automatic language identification is a natural language processing problem that tries to determine the natural language of a given content. In this paper we present a statistical method for automatic language identification of written text using dictionaries containing stop words and diacritics. We propose different approaches that combine the two dictionaries to accurately determine the language of textual corpora. This method was chosen because stop words and diacritics are very specific to a language, although some languages have some similar words and special characters they are not all common. The languages taken into account were romance languages because they are very similar and usually it is hard to distinguish between them from a computational point of view. We have tested our method using a Twitter corpus and a news article corpus. Both corpora consists of UTF-8 encoded text, so the diacritics could be taken into account, in the case that the text has no diacritics only the stop words are used to determine the language of the text. The experimental results show that the proposed method has an accuracy of over 90% for small texts and over 99.8% for large texts. Copyright © 2018, The Authors. All rights reserved.

关键词： Natural language processing systems

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Fractional Differential Equation Solvers in Octave/Matlab

Fractional Differential Equation Solvers in Octave/Matlab

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International Conference on Methods and Models in Automation and Robotics

作者： Marcin Sowa Aleksandra Kawala-Janik Waldemar Bauer Faculty of Electrical Engineering Silesian University of Technology Gliwice Poland Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Kraków Poland

This paper concerns solvers for time fractional differential equations in Matlab and Octave. The main analysis revolves around a time step size adaptive solver basing on the numerical method called SubIval. The basis of SubIval is explained and formulae for the step size adaptivity are given. The solver is compared with others basing on: fractional linear multistep methods, product integration rules and the Grunwald-Letnikov approximation.

关键词： Fractional calculus Differential equations Electrical engineering Electronic mail Matlab Capacitors Coils

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Blind users' assistive technology based on the Android platform

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International Journal of Innovative Computing and Applications 2017年第3期8卷 162-171页

作者： Al-Nabulsi, Jamal Ma'touq, Jumana Abdallah, Emad E. Haloubi, Tarek Manasra, Ali Biomedical Engineering Department Faculty of Engineering Hashemite University Jordan Al-Ahliyya Amman University Amman19328 Jordan Institute of Automatic Control Leibniz Universität Hannover Germany Department of Computer Information System Faculty of Information Technology Hashemite University Jordan Biomedical Engineering Department Faculty of Engineering Al-Ahliyya Amman University Jordan

Because of the wide use of smartphones in our daily activities, a wide range of mobile applications have been developed to serve as assistive technologies. However, there is a lack of applications in the Arabic language to assist disabled people. The main aim of this paper is to build a simple yet accurate Arabic language application that is capable of helping blind users in real-Time. In the proposed technology, the blind user captures a photo and records his/her voice inquiry. The query is instantly sent with the captured photo to a set of volunteers. The volunteers answer the blind user enquiries and send the answers back. Fifteen visually impaired persons and ten volunteers were used in the experimental testing. The scenarios were carefully created based on realistic situations. The subjects were then asked to answer a questionnaire to test if their queries were answered effectively and efficiently. The early results are promising because all blind users found the proposed technology useful and 80% of them wanted to use it on a daily basis. In addition, all volunteers found the application easy to use with clear instructions and 80% of them were excited about using it to assist blind users. Copyright © 2017 Inderscience Enterprises Ltd.

关键词： Mobile computing

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Benchmarking top-k keyword and top-k document processing with T2K2and T2K2D2

arXiv

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arXiv 2018年

作者： Truicǎ, Ciprian-Octavian Darmont, Jérôme Boicea, Alexandru Rǎdulescu, Florin Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Université de Lyon ERIC EA Lyon 23083 France

Top-k keyword and top-k document extraction are very popular text analysis techniques. Top-k keywords and documents are often computed on-the-fly, but they exploit weighted vocabularies that are costly to build. To compare competing weighting schemes and database implementations, benchmarking is customary. To the best of our knowledge, no benchmark currently addresses these problems. Hence, in this paper, we present T2K2, a top-k keywords and documents benchmark, and its decision support-oriented evolution T2K2D2. Both benchmarks feature a real tweet dataset and queries with various complexities and selectivities. They help evaluate weighting schemes and database implementations in terms of computing performance. To illustrate our benchmarks' relevance and genericity, we successfully ran performance tests on the TF-IDF and Okapi BM25 weighting schemes, on one hand, and on different relational (Oracle, PostgreSQL) and document-oriented (MongoDB) database implementations, on the other hand. Copyright © 2018, The Authors. All rights reserved.

关键词： Benchmarking

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A new approach to create a realistic virtual model of a cylindrical robot using Automation Studio

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IOP Conference Series: Materials Science and engineering 2019年第1期591卷

作者： C C Dosoftei A Lupu C M Pascal Gheorghe Asachi Technical University of Iasi Faculty of Automatic Control and Computer Engineering Bd. Dimitrie Mangeron nr. 67 700050 Iasi Romania

Industry 4.0 is mainly represented by the digitalization technologies of physical industrial assets, thus obtaining the cyber-physical systems. A key role in digitalization developing is indeed played by possibility to develop a realistic virtual model (3D model) and using this model in virtual simulations to test the functionality of the system at possible scenarios from real world. The paper presents the modelling a mechatronic system represented by a three-dimensional cylindrical type manipulator in Automation Studio software and aims creating cinematic animation which will be used in the field of virtual commissioning. This approach in Industry 4.0 paradigm is studied in the academic environment and in the industrial research from last decade time, because generate major benefits such as in remote accessibility for learning, time efficiency from planning to real setup with possibility of detection and debugging of errors in the system, for minimizing time commissioning and predictive maintenance.

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Stereo vision based environment analysis and perception for autonomous driving applications

Stereo vision based environment analysis and perception for ...

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IEEE International Conference on Intelligent computer Communication and Processing

作者： Adrian Burlacu Simona Caraiman Amalia Cozma Ecaterina Dobrincu Robert Lupu Roxana Miron Otilia Zvoristeanu Faculty of Automatic Control and Computer Engineering “Gheorghe Asachi” Technical University of Iasi Romania

Environment analysis and perception are two of the most important tasks in various application areas involving stereo vision. Specifically to autonomous driving applications these tasks are related to systems awareness and are direct linked to the decision process. This research proposes an architecture for environment analysis and perception with strait forward replicable design. This architecture is structured in three parts: input data, environment analysis and environment perception. Starting from a disparity map the architecture employs different representations that allow for ground area and obstacles detection. For free space assessment a polar grid is built allowing for better interpretation of the free space direction. In the end obstacle classification adds new information to the obstacles position and orientation. Classification is done using existing trained neural classifiers.

关键词： computer architecture Stereo vision Roads Cameras Autonomous vehicles Three-dimensional displays Feature extraction

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A Spiking Neural Network with Visible Light Communications

A Spiking Neural Network with Visible Light Communications

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International Symposium on Communication Systems, Networks and Digital Signal Processing, CNSDSP

作者： Mircea Hulea Zabih Ghassemlooy Sujan Rajbhandari Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Romania Optical Communications Research Group Northumbria University Newcastle UK Institute for Future Transport and Cities Coventry University UK

Spiking neural networks benefit from the real-time response when implemented using the analogue hardware since each electronic neuron operates independently from each other. The main problem of such neural networks is when the neural areas are non-static and are at a significant distance from each other. One solution to solve this problem is to use wireless based connectivity with parallel information transmission capability between neurons. This work presents the design and implementation of an all-optical synapse, based on the wavelength division multiplexed visible light communications between neurons, which has been adopted to overcome the problem of real-time weights adjustment. The results showed that by direct conversion of the electronic spikes into optical pulses, the spiking neurons are able to communicate through the optical channel with very low influence on the neural network normal spiking activity.

关键词： Neurons Optical filters Optical receivers Synapses Optical pulses Optical amplifiers Stimulated emission

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A Focal load balancer based algorithm for task assignment in cloud environment

A Focal load balancer based algorithm for task assignment in...

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International Conference on Electronics, computers and Artificial Intelligence (ECAI)

作者： Mostafa Abdulghfoor Mohammed Raed Abdulkareem Hasan Munef Abdullah Ahmed Nicolae Tapus Marwan Ali Shanan Mohammad Khamees Khaleel Ahmed.H. Ali Faculty of Automatic Control and Computers University Polytechnic of Bucharest Independentei Romania Northern Technical University Mosul Iraq Universiti Malaysia Pahang Kuantan Pahang MY Faculty of Computer System and software Engineering University Malaysia Pahang (UMP) Kuantan Pahang Malaysia

ISBN: (纸本)9781538649022;9781538649015

A new trend rising in IT environs is the Mobile cloud computing with colossal prerequisites of infrastructure along with resources. In cloud computing environment, load balancing a vital aspect. Cloud load balancing way toward disseminating workloads across numerous computing resources. Proficient load balancing plan guarantees effective resource usage by the supply of resources to cloud user's on-demand premise and it might even help organizing clients by applying fitting planning criteria the current paper discusses and implements the concept of load balancers, which are the lifeblood of any cloud computing network. In this paper, a new load balancing system is presented Focal Load Balancer (F-LB), which has been developed to reduce the traffic in the Cloud, whilst assuring a smooth flow of data in the cloud network. The proposed algorithm takes advantage of the dynamic load balancing characteristics over static balancing, and avoids the damage that a static load balancer causes if it fails. Simulation results show that the proposed algorithm operates efficiently and effectively, and it provides a significantly improved performance over existing algorithms. Comparisons with the krill-LB and agent-based algorithms show that the new system provides a reduction in average wait time, a significant increase in throughput, and a dramatic reduction in CPU time consumption.

关键词： Load management Cloud computing Heuristic algorithms Servers Throughput Task analysis Software

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