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3rd World Conference on Technology, Innovation and Entrepreneurship, WOCTINE 2019

作者： Acar, Özgür Yasąr, Claudia F. Control and Automation Engineering Faculty of Electrical and Electronics Engineering Yildiz Technical University Istanbul34220 Turkey

A detailed design of mechanisms is presented, along with the required electromagnetic system to attach the robot to the tank's wall. This is a novel mechanical design in which the robotic wheels rotate changing the instantaneous center of rotation. The robot mechanics is designed and simulated using Solidworks. The proposed electromagnetic system has to provide the necessary currents to control magnetic forces to be strong enough to attach the robot to the wall. However, because of the electromagnetic forces the control positioning method has to consider the strong Coulomb friction that appears against wheels movement. The sensor and acquisition system for navigation and control are also detailed. An inspection system has been proposed based on client/server architecture. Autonomous tracking and a mapping system powered by IMU sensor fusion is proposed. This design is suitable to be used along with the robot motion positioning strategy and, especially, the system must be robust to the disturbances and noise. The robot runs a server application and a remote PC is the client. The robot configuration has been developed with the capability of climbing up steel walls and navigating welding lines. The remote inspection system has been illustrated. A sensorial system and data fusion strategy to estimate the absolute robot position have been proposed. In order to track the desired trajectories, the robot's kinematics is described. Some simulations of the position control of the wheels and the complete control for the tracking performance were simulated using Matlab/Simulink. This robotic system has demonstrated the capability to track an accurate trajectory given by the defined kinematic equations. © 2019 The Authors. Published by Elsevier B.V.

关键词： Inspection

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Relational Prompt-based Pre-trained Language Models for Social Event Detection

arXiv

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arXiv 2024年

作者： Pu, L.I. Xiaoyan, Y.U. Peng, Hao Xian, Yantuan Wang, Linqin Li, S.U.N. Zhang, Jingyun Philip, S.Y.U. Faculty of Information Engineering and Automation Yunnan Key Laboratory of Artificial Intelligence Kunming University of Science and Technology Kunming650500 China School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China School of Cyber Science and Technology Beihang University No. 37 Xue Yuan Road Haidian District Beijing100191 China School of Control and Computer Engineering North China Electric Power University Beijing102206 China Department of Computer Science University of Illinois at Chicago ChicagoIL60607 United States

Social Event Detection (SED) aims to identify significant events from social streams, and has a wide application ranging from public opinion analysis to risk management. In recent years, Graph Neural Network (GNN) based solutions have achieved state-of-the-art performance. However, GNN-based methods often struggle with missing and noisy edges between messages, affecting the quality of learned message embedding. Moreover, these methods statically initialize node embedding before training, which, in turn, limits the ability to learn from message texts and relations simultaneously. In this paper, we approach social event detection from a new perspective based on Pre-trained Language Models (PLMs), and present RPLM (Relational prompt-based Pre-trained Language Models for Social Event Detection). We first propose a new pairwise message modeling strategy to construct social messages into message pairs with multi-relational sequences. Secondly, a new multi-relational prompt-based pairwise message learning mechanism is proposed to learn more comprehensive message representation from message pairs with multi-relational prompts using PLMs. Thirdly, we design a new clustering constraint to optimize the encoding process by enhancing intra-cluster compactness and inter-cluster dispersion, making the message representation more distinguishable. We evaluate the RPLM on three real-world datasets, demonstrating that the RPLM model achieves state-of-the-art performance in offline, online, low-resource, and long-tail distribution scenarios for social event detection tasks. Copyright © 2024, The Authors. All rights reserved.

关键词： Risk assessment

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Discrete Modes Faults Diagnosis for Hybrid Dynamical Systems Using Petri Nets

Discrete Modes Faults Diagnosis for Hybrid Dynamical Systems...

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International Conference on Sciences and Techniques of Automatic control and Computer engineering (STA)

作者： Fayssal Arichi Brahim Cherki Mohamed Djemai Seref Naci Engin Ecole supérieure en sciences appliquées Tlemcen Algeria Laboratoire d?automatique de Tlemcen (LAT) UniversitÈ de Tlemcen Algeria LAMIH CNRS UMR 8201 UVHC Valenciennes France QUARTZ Laboratory Cergy France Department of Control and Automation Engineering Faculty of Electrical and Electronics Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781665482622

This paper investigates the problem of diagnosing discrete faults for a class of hybrid dynamical systems, where the evolution of the discrete state is led by a set of discrete modes governed by a partially observed Petri net which means that we can know the activation of some discrete modes and the firing of some switching conditions. The considered class may have several modes evolving simultaneously. The modes can be associated with normal or faulty operating conditions. Therefore, the knowledge of the current mode represents the coeur part of the proposed diagnosis approach. We present at first an asymptotic observer to detect both the activation of discrete modes and the switching conditions. Then, we propose an algorithm to diagnose faults using the estimated discrete states provided by the observer. Simulation results show the effectiveness of the proposed approach.

关键词： Fault diagnosis Firing Simulation Heuristic algorithms Petri nets Switches Observers

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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Comparing of transfer process data in PLC and mcu based on IoT 5th

Comparing of transfer process data in PLC and mcu based on I...

引用

5th International Conference on Advanced engineering Theory and Applications, AETA 2018

作者： Gavlas, Antonin Koziorek, Jiri Rakay, Robert Department of Cybernetics and Biomedical Engineering Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava 17. listopadu 15 Ostrava70833 Czech Republic Department of Automation Control and Human Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Park Komenského 8 Košice042 00 Slovakia

ISBN: (纸本)9783030149062

An article is based on comparing of data processing within PLC and MCU with using Cloud platforms. The last advances in computation and communication technologies are taking shape in the form of IoT (Internet of Things), M2M (Machine to Machine) technology, Industry 4.0 and Cyber Physical Systems. Internet of Things connects an enormous number of devices. Devices within IoT need small number of sensors and control data, but with numerous messages. Today Cloud services work with the volume of these data and support large scale IoT systems. In this paper we would like to represent a comparison of solutions Industrial and Commercial IoT. The proposed systems use one of the newest communication protocols MQTT. © Springer Nature Switzerland AG 2020.

关键词： Internet of things

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Production Scheduling Application Software for Small Medium Enterprises

Production Scheduling Application Software for Small Medium ...

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International Conference on System Science and engineering (ICSSE)

作者： Xuan-Thuyen Le The-Anh-Tu Nguyen Ngoc-Hieu Pham Ngoc-Huy Tran Innovation Fablab Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Control & Automation Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Mechatronics Cao Thang Technical College Ho Chi Minh City Vietnam

Derived from the current implementation of the production plan as well as the production schedule, Enterprise Resource Planning software with a built-in production scheduling algorithm helps optimize the uses of resources, reduce production time, increase productivity, and increase customer service levels. In this research, the available management platform (Odoo) with Python as the main programming language is proposed to build a system to support suitable schedule production plans helps shorten processing time and reduce order delay. In addition, the results are shown in detail and can be flexibly modified manually on the Gantt chart. The feasibility of the production scheduling application is shown by the Gantt chart before and after the scheduling. Moreover, the order delay rate has been reduced from 15% to 3.33%.

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On the Design of Secured and Reliable Dynamic Access control Scheme of Patient E-Healthcare Records in Cloud Environment

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Computational Intelligence and Neuroscience 2022年第0期2022卷 3804553页

作者： Zala, Kirtirajsinh Thakkar, Hiren Kumar Jadeja, Rajendrasinh Dholakia, Neel H. Kotecha, Ketan Jain, Deepak Kumar Shukla, Madhu Department of Computer Engineering Marwadi University Gujarat Rajkot360006 India Department of Computer Science and Engineering School of Technology Pandit Deendayal Energy University Gujarat Gandhinagar382007 India Faculty of Technology Marwadi University Gujarat Rajkot360006 India University Pune India Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing China

Traditional healthcare services have changed into modern ones in which doctors can diagnose patients from a distance. All stakeholders, including patients, ward boy, life insurance agents, physicians, and others, have easy access to patients' medical records due to cloud computing. The cloud's services are very cost-effective and scalable, and provide various mobile access options for a patient's electronic health records (EHRs). EHR privacy and security are critical concerns despite the many benefits of the cloud. Patient health information is extremely sensitive and important, and sending it over an unencrypted wireless media raises a number of security hazards. This study suggests an innovative and secure access system for cloud-based electronic healthcare services storing patient health records in a third-party cloud service provider. The research considers the remote healthcare requirements for maintaining patient information integrity, confidentiality, and security. There will be fewer attacks on e-healthcare records now that stakeholders will have a safe interface and data on the cloud will not be accessible to them. End-to-end encryption is ensured by using multiple keys generated by the key conclusion function (KCF), and access to cloud services is granted based on a person's identity and the relationship between the parties involved, which protects their personal information that is the methodology used in the proposed scheme. The proposed scheme is best suited for cloud-based e-healthcare services because of its simplicity and robustness. Using different Amazon EC2 hosting options, we examine how well our cloud-based web application service works when the number of requests linearly increases. The performance of our web application service that runs in the cloud is based on how many requests it can handle per second while keeping its response time constant. The proposed secure access scheme for cloud-based web applications was compared to the Ethereum blo

关键词： Cost effectiveness

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Krasovskii and Shifted Passivity Based Output Consensus

arXiv

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arXiv 2022年

作者： Kawano, Yu Cucuzzella, Michele Feng, Shuai Scherpen, Jacquelien M.A. Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima739-8527 Japan Department of Electrical Computer and Biomedical Engineering University of Pavia PV Pavia27100 Italy School of Automation Nanjing University of Science and Technology Nanjing210094 China Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands

Motivated by current sharing in power networks, we consider a class of output consensus (also called agreement) problems for nonlinear systems, where the consensus value is determined by external disturbances, e.g., power demand. This output consensus problem is solved by a simple distributed output feedback controller if a system is either Krasovskii or shifted passive, which is the only essential requirement. The effectiveness of the proposed controller is shown in simulation on an islanded DC power network. Copyright © 2022, The Authors. All rights reserved.

关键词： Nonlinear systems

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Yolov7-Tp: A Deep Convolutional Neural Network for Identifying Tea Buds and Their Plucking Points

SSRN

引用

SSRN 2023年

作者： Gui, Zhiyong Chen, Zhiwei Wang, Mengjie Chen, Jianneng Wu, Chuanyu Dong, Chunwang Li, Yang Key Laboratory of Tea Quality and Safety Control Ministry of Agriculture and Rural Affairs Tea Research Institute Chinese Academy of Agricultural Sciences Hangzhou310018 China Faculty of Mechanical Engineering & Automation Zhejiang Sci-Tech University Hangzhou310018 China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou310018 China Tea Research Institute Shandong Academy of Agricultural Sciences Jinan250100 China

To achieve intelligent tea plucking, it is essential to let the machine know the location of tea bud picking. A Yolov7-TP (Yolov7-Tea-bud and plucking point) model is proposed herein for identifying tea buds and their plucking points. Here, images of tea buds in actual tea plantations were collected and labeled to establish a dataset. Thereafter, the Yolov7-TP was trained, tested, optimized, and improved according to the test results. The specific improvements were as follows: a localization loss function of tea-bud plucking points, AW tea plucking-point (AWTP) loss, is proposed to replace the original object key point similarity loss function, which significantly improved the positioning accuracy of plucking points. The shuffle attention mechanism was introduced into the model to advance the detection performance of the model. To evaluate the accuracy of the model to predict tea plucking points, this study proposes a means tea plucking point similarity (MTPS). A new indicator for tea plucking-point evaluation is proposed, the mean tea plucking-point similarity (MTPS), which better reflects the accuracy of the model. Here, the precision, recall, mean Average Precision (Intersection over Union=0.5) (MAP@0.5), and MTPS of the proposed model reached 0.975, 0.884, 0.946, and 0.9835, respectively. The proposed model was observed to be more stable and accurate in a complex environment. This study provides technical solutions and optimization methods for intelligent precision plucking, application values for the acquisition of tea-bud plucking points, and reference values for the identification of key points for other objects. © 2023, The Authors. All rights reserved.

关键词： Object detection

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Stability of partially unstable discrete-time switched positive nonlinear systems with delays

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Applied Mathematics and Computation 2025年 507卷

作者： Ni, Jinyuan Sheng, Yin Xiao, Qiang Zeng, Zhigang Huang, Tingwen School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China

This paper addresses the stability issue of discrete-time switched positive nonlinear systems (SPNSs) characterized by partial unstable subsystems and constant delays. Firstly, we use a parameter to constrain the ratio of active durations of the stable and unstable modes, and derive the exponential stability conditions for SPNSs based on a key function. Then we analyze the relationship between convergence speed and the constant delay. Additionally, we obtain a stability criterion of SPNSs under a particular sequence of switching signals. Finally, we validate the results through a numerical example. © 2025 Elsevier Inc.

关键词： Stability criteria

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