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33rd IEEE International Conference on Microelectronics, MIEL 2023

作者： Bogacki, P. Dlugosz, M. Talaska, T. Dlugosz, R. Aptiv Services Poland Kraków30-399 Poland Agh University of Science and Technology Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications Kraków30-059 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350347760

The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance Systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock. © 2023 IEEE.

关键词： Pixels

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A novel concept of attitude control for large multirotor-UAVs based on moving mass control

A novel concept of attitude control for large multirotor-UAV...

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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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Critical aspects of the uncertainty budget in the shielding effectiveness measurements

Critical aspects of the uncertainty budget in the shielding ...

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IEEE International Symposium on Electromagnetic Compatibility - EMC Europe

作者： Karolina Małecka Robert Olczyk Jan Sroka Grzegorz Urbaniak Faculty of Electrical Engineering Warsaw University of Technology Warsaw Poland Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland

This article deals with the issue of identification and quantification of uncertainty components in shielding effectiveness measurements carried out in accordance with the standard EN 50147-1. It describes problems accompanying such tasks and presents baseline uncertainty budget. Issues related to uncertainty of the antenna factor, uncertainty of measurement receiver and mismatch of the measurement path were taken into consideration. Further topics requiring consideration have also been identified, such as the type A evaluation of uncertainty, variations of the reflection coefficient at the input of antenna and uncertainties of measurements of S-parameters used to calculate mismatch of the measurement path.

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An analysis of sensitivity distribution using two differential excitation potentials in ECT

An analysis of sensitivity distribution using two differenti...

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2011 5th International Conference on Sensing Technology, ICST 2011

作者： Mohamad, Elmy Johana Faizan Marwah, Omar M. Rahim, Ruzairi Abdul Ling, Leow Pei Dept. of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Dept. of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781457701672

The investigation of this work is to analysis the sensitivity distributions using two differential excitation potentials, in order to improve the situation of: (1) non-uniform sensitivity distribution: (2) less sensitivity in the central area and (3) non-linear change in ECT (electrical Capacitance Tomography) system. Simulation using COMSOL Multiphysics is developed in order to obtain the changes in capacitance inter-electrodes and the permittivity of the dielectric material when two differential excitation potentials were injected. The MATLAB simulation is used to obtain the sensitivity distribution inside the closed pipe from the sensor. Generated phantoms and measured values are presented. Simulation is verified using available experimental data through the existing system, 16- segmented ECT sensor electrodes by PROTOM Research Group UTM, MALAYSIA. By using this technique the linear relationship between the capacitances measured to inter-electrodes and the permittivity dramatically improved and the sensitivity distribution for an opposing electrode pair was increased thus gives the sensitivity distribution in the central area increased. The use of this technique does increase the level of detection signals and the SNR(signal noise to ratio) compared to those achieved using standard single-voltage source method. © 2011 IEEE.

关键词： Multiphysics

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Design of MIMO controller for a manipulator using Tabu Search algorithm

Design of MIMO controller for a manipulator using Tabu Searc...

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International Conference on Intelligent and Advanced Systems, ICIAS

作者： I. Hassanzadeh S. Mobayen H. Kharrati Research Laboratory of Robotics Control Engineering Department Faculty of Electrical & Computer Engineering University of Tabriz Tabriz Iran

In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of the system. A 5-bar-linkage is considered as a case study. We define an objective function including these indexes. Then by minimizing this function using discrete TS algorithm, controller parameters design is performed efficiently and quickly. Superior features of this algorithm are fast tuning of PID parameters, rapid convergence, less computational burden and capability to avoid from local minima. Simulation results demonstrate that our proposed TS method compared with other heuristic method, i.e., the genetic algorithm (GA) is more efficient in terms of improving the step response of the robot.

关键词： Robots Algorithm design and analysis Manipulators Cost function MIMO Mathematical model Heuristic algorithms

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GA based input-output feedback linearization controller for rotary inverted pendulum system

GA based input-output feedback linearization controller for ...

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International Symposium on Mechatronics and Its Applications, ISMA

作者： Iraj Hassanzadeh Saleh Mobayen Research Laboratory of Robotics Control Engineering Department Faculty of Electrical Computer Engineering University of Tabriz Tabriz Iran

This paper presents an optimum approach to design input-output feedback linearization (IOFL) controller for a rotary inverted pendulum (RIP) using the Binary Genetic Algorithm. Genetic Algorithms (GAs) are stochastic global search methods that emulate the process of natural evolution and because of their simplicity and robustness, they are more popular and applicable. The primary design goal is to minimize the integral absolute error of system angles and velocities and balance the pendulum in the inverted position by minimizing overshoot, settling time and rise time of step response. An objective function using these indexes is established. Then by minimizing the objective function using Binary Genetic algorithm, the optimal controller parameters can be assigned. Simulation results verified capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems.

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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In-flight Efficient controller Auto-tuning using a Pair of UAVs

In-flight Efficient Controller Auto-tuning using a Pair of U...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Wojciech Giernacki Dariusz Horla Martin Saska Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland Faculty of Electrical Engineering Czech Technical University in Prague Prague 6 Czech Republic

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

In the paper, a pair of auto-tuning methods for fixed-parameter controllers is presented, in application to multirotor unmanned aerial vehicles (UAVs) control. In both cases, the automatized process of searching the best altitude controller parameters is carried out with the use of a modified golden-search method, for a selected cost function, during the flight of a pair of UAVs. All the calculations are performed in real-time in the iterative manner using only basic sensory information available concerning current altitude information for a pair of UAVs. The auto-tuning process of the controller is characterized by neglectfully low computational demand, and the parameters are obtained rapidly with no dynamic model of a UAV needed. In both methods, by using a pair of UAVs in tuning process, the level of control performance can be increased, what has been proved by means of multiple outdoor experiments. The first method increases precision of the obtained controller parameters by averaging sensory information over a pair of UAVs, whereas in the second, by exchanging measurement information between the units, the search space is explored faster. The latter is of special importance when seeking the best controller parameters, what is especially expected when a limited experiment duration of multirotor UAVs is taken into account.

关键词： Process control Unmanned aerial vehicles Space exploration Safety Vehicle dynamics Task analysis Tuning

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Discrete Sliding Mode control for a Non-minimum Phase Electro-hydraulic Actuator System

Discrete Sliding Mode Control for a Non-minimum Phase Electr...

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Asian control Conference

作者： R. Ghazali Y. M. Sam M. F. Rahmat C. C. Soon H. I. Jaafar Zulfatman Center for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781479978632

The main objective of this paper is to perform a robust controller design using discrete-time sliding mode control (DSMC). In the control scheme, two-degree-of-freedom (2-DOF) control strategy turns the DSMC, which generally utilized state feedback into output feedback controller. The designed control scheme is considered with feedback and feedforward combination by implementing the zero phase error tracking control (ZPETC), which particularly intended for the nonminimum phase electro-hydraulic actuator (EHA) system application. In the experimental works, a sinusoidal trajectory with different frequencies is employed to assess the DSMC performance under nonlinear and uncertain condition. Experimental results show the DMSC with perfect tracking control approach is capable to reduce the phase lag occurred due to nonlinear phenomenon. The proposed controller also is highly robust under various points of trajectories and significantly shows enhancement in tracking control performance as compared to the conventional controllers.

关键词： Output feedback control Discrete sliding mode control Zero-phase-error-tracking control Electro-hydraulic actuator system

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Efficient Deep Learning Modalities for Object Detection from Infrared Images

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Computers, Materials & Continua 2022年第8期72卷 2545-2563页

作者： Naglaa F.Soliman E.A.Alabdulkreem Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Ahmed Sedik Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafr el-sheikhEgypt

For military warfare purposes,it is necessary to identify the type of a certain weapon through video stream tracking based on infrared(IR)video *** vision is a visual search trend that is used to identify objects in images or video *** military applications,drones take a main role in surveillance tasks,but they cannot be confident for longtime ***,there is a need for such a system,which provides a continuous surveillance task to support the drone *** a system can be called a Hybrid Surveillance System(HSS).This system is based on a distributed network of wireless sensors for continuous *** addition,it includes one or more drones to make short-time missions,if the sensors detect a suspicious *** paper presents a digital solution to identify certain types of concealed weapons in surveillance applications based on Convolutional Neural Networks(CNNs)and Convolutional Long Short-Term Memory(ConvLSTM).Based on initial results,the importance of video frame enhancement is obvious to improve the visibility of objects in video *** accuracy of the proposed methods reach 99%,which reflects the effectiveness of the presented *** addition,the experimental results prove that the proposed methods provide superior performance compared to traditional ones.

关键词： Deep learning object detection military applications OFDM SPIHT IoT

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