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Design and development of embedded networked wireless digital controller for multiple plants using bit-representation data formation 16

Design and development of embedded networked wireless digita...

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16th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2019

作者： Mee-Im, Kritapras Nuratch, Santi Lenwari, Wanchak Faculty of Engineering KMUTT Embedded Computing and Control Laboratory

ISBN: (纸本)9781728133614

This paper proposes some powerful techniques to design and development data packages used for multiple plants embedded wireless digital controller. The system performs data exchanging using master-slave topology, the common one in industrial automation systems. The master and slaves are implemented on low-cost IoT-supported 32-bit microcontroller. The Free-RTOS is used as real-time operating system. All drivers of the master and slave controllers are implemented using C language and mainly preforms bitwise operations to obtain the speed and efficiency of the code execution. The plants used in this research are brushed dc-motors driven by PWM-based bidirectional H-bridge drivers. There are four types of the data packages are proposed. The data packages are designed using bit-representation data formation techniques. The data package design technique requires only one byte for the package header. It can reduce numbers of bytes of data exchanged over network. To archive the real-time control and monitoring capabilities of the system, the WebSockets protocol is selected implemented in all devices, master, slaves and computer. In addition, the proposed system is also evaluated on other protocols, the HTTP and MQTT. The experimental results show that the proposed techniques, system design and data package design, can perform on all communication protocols, no package loss. Using the WebSockets as communication protocol can archive the real-time capability of the system. It means that the proposed system can be implemented in real-world applications, the industrial real-time control monitoring and control systems. © 2019 IEEE.

关键词： Embedded systems

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A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection

A Nonlinear Observer for a Flexible Robot Arm and its Use in...

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IEEE Conference on Decision and control

作者： Claudio Gaz Andrea Cristofaro Pasquale Palumbo Alessandro De Luca Department of Mechanical Engineering Faculty of Science Engineering and Computing Kingston University London UK Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Biotechnology and Biosciences University of Milano Bicocca Milan Italy

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the mismatch between measured and estimated outputs, we can also detect the occurrence of permanent or intermittent system anomalies such as actuator faults or link collisions.

关键词： Jacobian matrices Actuators Trajectory tracking Observers Arms Robot sensing systems Manipulators

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Adjusted and controllability Properties of Memristor Rucklidge System

Adjusted and Controllability Properties of Memristor Rucklid...

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2023 IEEE International Conference on Memristive computing and Applications, ICMCA 2023

作者： Zang, Hongyan Huang, Lili Zhang, Shourong Joseph, Annie Anak Fu, Haiyan Lei, Tengfei Qilu Institute of Technology Collaborative Innovation Center of Memristive Computing Application Jinan250200 China Universiti Malaysia Sarawak Faculty of Engineering Kota Samarahan Sarawak Malaysia College of Intelligent Manufacturing and Control Engineering Qilu Institute of Technology Jinan250200 China Shandong Vanform High Energy Physics Technology Co. Ltd. Jinan250100 China Universiti Malaysia Sarawak Department of Electrical and Electronics Kota Samarahan Sarawak Malaysia College of Computer and Information Engineering Qilu Institute of Technology Jinan250200 China Jinan250200 China

ISBN: (纸本)9798350316230

There are many models of memristors, but there are no reports on exponential memristors. In this paper, a three- dimension memristor Rucklidge system with exponential memristor is proposed by introducing exponential function and constructing exponential memristor. The dynamic behavior of the system is analyzed by means of Lyapunov exponent and bifurcation diagram. The complex attractor coexistence and amplitude modulation characteristics of the system are found. The internal variable of memristor is introduced into the second two-dimensional equation as a feedback term, and a conditional symmetric system is constructed for the three-dimensional memristor system, which can realize the polarity control of output signal. By discussing the dynamic characteristics of exponential memristor chaotic system and the control mechanism of amplitude modulation, bias and conditional symmetry, the complex dynamic characteristics of exponential function memristor are revealed, which lays a foundation for its application in the field of secure communication. © 2023 IEEE.

关键词： Memristors

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Nonlinear Observer Design Methods Based on High-Gain Methodology and LMIs with Application to Vehicle Tracking

Nonlinear Observer Design Methods Based on High-Gain Methodo...

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American control Conference (ACC)

作者： H. Bessafa C. Delattre Z. Belkhatir A. Zemouche R. Rajamani CRAN CNRS UMR 7039 Université de Lorraine Cosnes et Romain France Department of Electronics and Computer Science University of Southampton Southampton UK Faculty of Computing Engineering and Media De Montfort University The Gateway Leicester UK Department of Mechanical Engineering Laboratory for Innovations in Sensing Estimation and Control University of Minnesota Minneapolis USA

The main objective of this work is to propose a solution to observer design for triangular systems where additional output measurements are available, which may improve the estimation quality. In fact, such additional measurements prevent the standard high-gain observer methodology to provide solutions for the estimation problem. In this paper, motivated by this issue, we propose two novel observer design methods to handle the additional output measurements. The first one can be viewed as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter, while the second method, which can be viewed as an alternative method, exploits jointly the high-gain methodology and the LPV/LMI technique to overcome some limitations related to the first design method. The proposed methods are applied to a vehicle trajectory estimation problem using the well-known kinematic model. The efficiency of the estimation using both proposed methods and a comparative study between them are provided.

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The graphics and physics engines for rapid development of 3d web-based applications 16

The graphics and physics engines for rapid development of 3d...

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16th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2019

作者： Eamnapha, Nitikorn Nuratch, Santi Lenwari, Wanchak Faculty of Engineering KMUTT Embedded Computing and Control Laboratory Thailand

ISBN: (纸本)9781728133614

This paper presents an engine that provides graphics and physics capabilities. It can be used as a powerful library for modern real-time 3D realistic WebGLbased 3D applications. There are two main parts proposed in this research. The first one is Engine Core, the graphics and physics engines. The second one is Engine APIs, the Application Programming Interfaces of the proposed engine. The Engine APIs provides all required functions to create the 3D graphics and physics applications running on web-browser. All modules of the proposed engine are written in modern JavaScript (ES6) and transpired to common JavaScript (CJS). It means that the transpired engine can be integrated in the webpage and run on target web-browser directly. In addition, this paper provides some other meaningful information to readers who are interesting in web-based 3D graphics and physics applications, e.g., Blender modeling techniques, the glTF model exporting and complex shape assets and their colliders creation techniques. © 2019 IEEE.

关键词： Blending

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Self-Supervised Learning for Time Series Analysis: Taxonomy, Progress, and Prospects

arXiv

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arXiv 2023年

作者： Zhang, Kexin Wen, Qingsong Zhang, Chaoli Cai, Rongyao Jin, Ming Liu, Yong Zhang, James Y. Liang, Yuxuan Pang, Guansong Song, Dongjin Pan, Shirui The Institute of Cyber-Systems and Control Zhejiang University China Squirrel AI China The School of Computer Science and Technology Zhejiang Normal University China The Faculty of Information Technology Monash University Australia Ant Group China INTR & DSA Thrust Hong Kong University of Science and Technology Guangzhou China The School of Computing and Information Systems Singapore Management University Singapore The School of Computing University of Connecticut United States The School of Information and Communication Technology Griffith University Australia

Self-supervised learning (SSL) has recently achieved impressive performance on various time series tasks. The most prominent advantage of SSL is that it reduces the dependence on labeled data. Based on the pre-training and fine-tuning strategy, even a small amount of labeled data can achieve high performance. Compared with many published self-supervised surveys on computer vision and natural language processing, a comprehensive survey for time series SSL is still missing. To fill this gap, we review current state-of-the-art SSL methods for time series data in this article. To this end, we first comprehensively review existing surveys related to SSL and time series, and then provide a new taxonomy of existing time series SSL methods by summarizing them from three perspectives: generative-based, contrastive-based, and adversarial-based. These methods are further divided into ten subcategories with detailed reviews and discussions about their key intuitions, main frameworks, advantages and disadvantages. To facilitate the experiments and validation of time series SSL methods, we also summarize datasets commonly used in time series forecasting, classification, anomaly detection, and clustering tasks. Finally, we present the future directions of SSL for time series analysis. Copyright © 2023, The Authors. All rights reserved.

关键词： Time series analysis

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Design and development of multiple protocols supported embedded gateway for industrial networked electrical metering systems 16

Design and development of multiple protocols supported embed...

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16th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2019

作者： Charukwongsawat, Siripong Nuratch, Santi Boonpramuk, Panuthat Faculty of Engineering KMUTT Embedded Computing and Control Laboratory Thailand

ISBN: (纸本)9781728133614

This paper presents the design and development of multiple protocols supported gateway for industrial networked electrical metering systems. There are two main parts proposed in this paper. Firstly, the flexible hardware design and development of smart meter that allow users to customize the communication protocols. Secondly, the firmware design and implementation techniques for the multiple protocols supported gateway. The smart meters used in this research are divided into three groups. The first group uses WebSockets as communication protocol. The second group utilizes MQTT protocol. The third group uses Modbus serial and Modbus TCP. All meters can measure all required electrical parameters, e.g., voltage, current, watt-hour, power factor and many other. The gateway can handle all required protocols and it can perform all communication channels concurrently. In addition, a plug-and-play algorithm is also mentioned. The firmware of the meters and the gateway are implemented based on Free-RTOS with C language to maintain speed and system performance. All communication protocols of the smart meters and gateway are implemented follow industrial standards. Therefore, the gateway and all groups of meters can be deployed to all standard industrial networks. In experiments, the gateway is connected to the internet to serve external requests from clients. The meters and gateway are evaluated in various possible conditions. The experimental results show that the meters can measure the desired electrical parameters and exchange their data correctly as expected. The gateway can perform all protocols and can respond to all incoming requests from clients concurrently and correctly. © 2019 IEEE.

关键词： Internet of things

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Identifying Chaotic Dynamics in IoT-Based Robot Navigation Using New Chaotic Jerk Models: Development and Experimental Validation

Identifying Chaotic Dynamics in IoT-Based Robot Navigation U...

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International Conference on ICT For Smart Society (ICISS)

作者： Aceng Sambas Zubair Ahmad Sundarapandian Vaidyanathan Cristian Lăzureanu Fareh Hannachi Tarek M. Abed-Elhameed Faculty of Informatic and Computing Universiti Sultan Zainal Abidin Besut Indonesia Department of Mathematics and Physics University of Campania “Luigi Vanvitelli” Caserta Italy Centre for Control Systems Vel Tech University Tamil Nadu India Department of Mathematics Politehnica University Timisoara Timisoara Romania Department of Management Sciences Larbi Tebessi University Tebessa Algeria Department of Mathematics Assiut University Assiut Egypt

ISBN: (数字)9798350389654

ISBN: (纸本)9798350389661

In this paper, we present a New Chaotic Jerk Model (NCJM) with a single equilibrium point for identifying chaotic dynamic behavior in an IoT-based Mobil Robot Navigation (MRN) system. Initially, we analyze the NCJM using equilibrium point analysis and the RK4 method. To further understand the dynamic behavior of the NCJM, we develop Lyapunov Exponential (LE) analyses and Bifurcation Diagrams (BD). The main finding of this study is that the NCJM exhibits both chaotic and periodic behaviors. The primary goal of this research is to create a kinematic model and design a mobile robot control system using the NCJM. Additionally, we design mobile robot hardware to test the effectiveness of the control system, utilizing an Arduino Uno. We analyze and compare the robot control through numerical simulations and experimental results, demonstrating the practical applicability and performance of the proposed system.

关键词： Chaos Navigation Simulation Robot control Kinematics Bifurcation control systems Numerical simulation Hardware Mobile robots

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Design and Implementation of Telemedicine System Using Light Fidelity and PIC16F877A Microcontroller

Design and Implementation of Telemedicine System Using Light...

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International Conference on Information Science and Technology (ICIST)

作者： M.R. Ezilarasan Man-Fai Leung Xiangguang Dai Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr. Sagunthala R&D Instituteof Science and Technology Chennai India Faculty of Science and Engineering School of Computing and Information Science Anglia Ruskin University Cambridge United Kingdom Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges University Wanzhou Chongqing China

ISBN: (数字)9798350353334

ISBN: (纸本)9798350353341

Medical Body Area Networks (MBANs) increasingly utilize wireless communication technologies to enhance the freedom and convenience for patients and caregivers. Currently, radio frequency (RF) is the prevalent medium in healthcare applications; however, the potential for electromagnetic interference with precision medical equipment remains a concern. This study introduces a novel design and implementation of a medical healthcare information system using the newly developed Wireless Visible Light Communication (VLC) technology, also known as Light Fidelity (Li-Fi). Visible Light Emitting Diodes (LEDs), expected to soon surpass traditional incandescent and fluorescent bulbs as the primary light source due to their energy efficiency, facilitate this technology. In this research, patient health is monitored using sensors, with results displayed on an LCD. An LED lightbulb transmits the data as light signals, which are captured by a photo-detector at the receiver's end. This setup not only displays the output on an LCD but also alerts caregivers through an auditory signal, beeping every 15 seconds for respiration and every 30 seconds for heart rate monitoring. Moreover, these lighting fixtures serve dual functions: illumination and wireless data transmission, using the rapid switching capability of LEDs. This prototype VLC-based system offers a promising alternative for data services and monitoring in hospital areas where RF use is restricted.

关键词： Wireless communication Radio frequency Wireless sensor networks Lighting Light emitting diodes Light fidelity Liquid crystal displays Communication system security Monitoring Visible light communication

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Design and Development of Cyber Physical System for Real-Time Web-based Visualization and control of Robot Arm

Design and Development of Cyber Physical System for Real-Tim...

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IEEE International Conference on control and Robotics Engineering (ICCRE)

作者： Suwanan Khrueangsakun Santi Nuratch Panuthat Boonpramuk Embedded Computing and Control Laboratory Faculty of Engineering KMUTT Bangkok Thailand

ISBN: (数字)9781728167916

ISBN: (纸本)9781728167923

Since Cyber-Physical System or CPS currently takes part in industrial, there is a lot of research for developing this system. From the survey and the trend of CPS research, a human user interface for control and monitor was highlighted as Digital Twins where VR and AR are introduced to improve the visualization for easier system interpretation. This paper introduces the proposed design of real-time control web-based monitor and control of 4-DoF robotic arm system where the robotic arm represents a physical part and web-based visualization as a cyber-part. The 4-DoF robotic arm was utilized from MeArm robot and was controlled via ESP32 WROOM with Wi-Fi module in order to pursue wireless data transmission. WebSocket protocol will be exploited to connect between the physical and cyber-part where the virtual model was displayed and controlled via web-browser, the virtual model of the robot was created with 3D blender and operated with WebGL-based 3D application which can be integrated and run on web-browser without extension. The proposed design was evaluated with operational time and error between the controlled virtual model and actual physical angle, the result achieved 278.772 ms for average operational time and 0.32% in error of angle between virtual and actual. As a result, the proposed design provided two-way communication, real-time control, and monitor which can be applied in industrial applications.

关键词： Manipulators Solid modeling Three-dimensional displays Real-time systems Servers Service robots

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