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Proceedings of the International Convention MIPRO

作者： Valentin Šimundić Dario Mihelčić Damian Svirac Petra Đurović Robert Cupec Faculty of Electrical Engineering Computer Science and Information Technology Osijek Croatia Chair of Automation and Robotics

A robotic system, in general, should be safe for the operators who are using it and, if possible, it should be safe for the system itself and the environment it interacts with. This paper investigates three methods for human detection by an RGB-D camera and their adjustments for monitored robot movement. The methods are implemented in ROS and integrated into a robotic system consisting of an industrial robot arm ABB IRB-2400L and an RGB-D camera. Validation and comparison of the implemented algorithms was performed on the recorded video dataset containing people in the robot working area with per-frame annotations of human presence, velocity and proximity to the robot. The algorithms detect humans with highest recall of 98%.

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Method for improving the accuracy of mobile robot odometry based on machine learning

Method for improving the accuracy of mobile robot odometry b...

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Algorithms, High Performance Computing and Artificial Intelligence (AHPCAI), International Conference on

作者： Bingbing Shao Tianjiang Zheng Qi Li Yikun Chen Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo Zhejiang China Key Laboratory of Robotics and Intelligent Equipment Technology of Zhejiang Province Ningbo Zhejiang China

Omnidirectional mobile robots have the characteristic of moving in any direction with three degrees of freedom in plane XYZ. The positioning accuracy of a mobile robot is not only affected by its manufacturing errors but also may be affected by vibration, load, and other factors, resulting in errors in the process of moving. To reduce the influence of the above factors, this paper presents an error compensation method based on Gaussian process regression (GPR) for omnidirectional mobile robots. The method requires fewer learning parameters and training points, which enables more computational efficiency in the learning process. To verify the effectiveness of the method, a simulation experiment is carried out. The simulation results show that the accuracy of the odometry in the three degrees of freedom of the plane is improved by 89.70%, 88.09%, and 96.32% respectively.

关键词： Training Vibrations Simulation Machine learning Kinematics Predictive models Computational efficiency

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Designing Optimal Parameters for Single-Axis Solar-Tracker through Analysis of Sun-Path and Tracking Vector Dynamics

Designing Optimal Parameters for Single-Axis Solar-Tracker t...

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International Conference on Electrical Engineering and Information & Communication technology (ICEEICT)

作者： M. Akhtaruzzaman Md Shofiqul Islam Fahim Shahryer Muammer Din Arif Md. Sazib Mollik Muhammad Towfiqur Rahman Md. Mahbubur Rahman Mohammad Kamrul Hasan Shugata Ahmed Md. Ashrafuzzaman Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Department of Mechanical Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Department of Electrical and Electronic Engineering Northern University Bangladesh (NUB) Dhaka Bangladesh Department of Computer Science and Engineering University of Asia Pacific (UAP) Dhaka Bangladesh Faculty of Information Science and Technology Universiti Kebangsaan Malaysia (UKM) Bangi Malaysia Department of Robotics and Mechatronics Engineering University of Dhaka (UoD) Bangladesh Global corporate & finance Experian (malaysia) Sdn. Bhd. Cyberjaya Malaysia

ISBN: (数字)9798350385779

ISBN: (纸本)9798350385786

The persistent challenges faced by sun-tracking systems include inefficient power production, wastage of energy, ineffective control, and high costs. Most of the existing systems are either static or dual-axis tracking which lead to inefficient output or increasing energy wastage and cost overheads. Though, single-axis tracking system has some benefits over the static or dual-axis tracking, most of the systems do not analyze the selection of optimal sun-path which again leads to inefficient and inadequate absorption of sunlight. Addressing the issues, this article presents a design of optimal parameters for single-axis solar-tracking by analyzing the sun-path and tracking vector dynamics. The study mainly focuses on analyzing solar-tracking dynamics, variations in sunray angles, Azimuth and Elevation dynamics throughout the day for the twelve months, Sun-vector calculation for local coordinates, joint rotational-axis, and joint motion control using a Proportional-Derivative controller. Additionally, the article outlines a conceptual architecture for automated control, monitoring, and power distribution for the potential development of a sustainable smart city. The proposed strategy addresses the issues of the optimal design of a single-axis solar-tracker, thus ensuring the reduction of cost overhead and energy wastage.

关键词： Costs Tracking Heuristic algorithms Power system dynamics Dynamics Production Vectors

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Development of ROV Simulator based on Real Oceanographic Data

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IFAC-PapersOnLine 2023年第2期56卷 11590-11595页

作者： Ryusei KAMEWARI Yusuke FUJISHIMA Kuniaki KAWABATA Kenta SUZUKI Norimitsu SAKAGAMI Fumiaki TAKEMURA Satoru TAKAHASHI Graduate School of Science for Creative Emergence Kagawa University 2217-20 Hayashi-Machi Takamatsu Kagawa 761-0396 Japan Area of Mechanical Systems Engineering Faculty of Engineering and Design Kagawa University Kagawa Japan Sector of Fukushima Research and Development Japan Atomic Energy Agency Fukushima Japan Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Ryukoku University Shiga Japan Department of Mechanical Systems Engineering National Institute of Technology Okinawa College Okinawa Japan

In recent years, demand for efficient oceanographic research for the development of marine resources has been increasing on a global scale. In general, research and operation training on underwater robotics in the ocean is very costly, and the climate and conditions of the ocean may make it impossible to conduct experiments. In this paper, we introduce an ocean simulator using real oceanographic data that can avoid these issues. First, we treat Choreonoid which is an integrated software for robots applied by National Institute of Advanced Industrial science and technology (AIST), as the basis of the simulator software. Furthermore, to demonstrate its feasibility in a more realistic ocean environment, we introduce the seabed data obtained from oceanographic research and a function to reproduce ocean currents on the simulator. In this paper, self-localization experiment is conducted to demonstrate the effectiveness of the simulator for oceanographic research.

关键词： underwater robot oceanographic research Ocean simulator self-localization estimation

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Study on spiral winding swimming motion control of a slender legless creature model

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High technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

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A Systematic Literature Review on Task Allocation and Performance Management Techniques in Cloud Data Center

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Computer Systems science & Engineering 2024年第3期48卷 571-608页

作者： Nidhika Chauhan Navneet Kaur Kamaljit Singh Saini Sahil Verma Abdulatif Alabdulatif Ruba Abu Khurma Maribel Garcia-Arenas Pedro A.Castillo University Institute of Computing Chandigarh UniversityPunjab143001India Department of Computer Science and Engineering Chandigarh UniversityPunjab143001India Department of Computer Science and Engineering Uttaranchal UniversityUttarakhand248007India Department of Computer Science College of Computer Qassim UniversityBuraydah52571Saudi Arabia MEU Research Unit Faculty of Information TechnologyMiddle East UniversityAmman11831Jordan Department of Computer Engineering Automatics and RoboticsUniversity of GranadaGranada18071Spain Applied Science Research Center Applied Science Private UniversityAmman11931Jordan

As cloud computing usage grows,cloud data centers play an increasingly important *** maximize resource utilization,ensure service quality,and enhance system performance,it is crucial to allocate tasks and manage performance *** purpose of this study is to provide an extensive analysis of task allocation and performance management techniques employed in cloud data *** aim is to systematically categorize and organize previous research by identifying the cloud computing methodologies,categories,and gaps.A literature review was conducted,which included the analysis of 463 task allocations and 480 performance management *** review revealed three task allocation research topics and seven performance management *** allocation research areas are resource allocation,load-Balancing,and *** management includes monitoring and control,power and energy management,resource utilization optimization,quality of service management,fault management,virtual machine management,and network *** study proposes new techniques to enhance cloud computing work allocation and performance ***-comings in each approach can guide future *** research’s findings on cloud data center task allocation and performance management can assist academics,practitioners,and cloud service providers in optimizing their systems for dependability,cost-effectiveness,and *** methodologies can steer future research to fill gaps in the literature.

关键词： Cloud computing data centre task allocation performance management resource utilization

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A Bio-Medical Snake Optimizer System Driven by Logarithmic Surviving Global Search for Optimizing Feature Selection and its application for Disorder Recognition

arXiv

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arXiv 2024年

作者： Khurma, Ruba Abu Alhenawi, Esraa Braik, Malik Hashim, Fatma A. Chhabra, Amit Castillo, Pedro A. MEU Research Unit Faculty of Information Technology Middle East University Amman11831 Jordan Computer Science Department Al- Ahliyya Amman University Amman Jordan Software Engineering Department Al- Ahliyya Amman University Amman Jordan Computer Science Department Prince Abdullah bin Ghazi Faculty of Information and Communication Technology Al-Balqa Applied University Salt Jordan Faculty of Engineering Helwan University Egypt Department of Computer Engineering and Technology Guru Nanak Dev University Amritsar143005 India Department of Computer Engineering Automatics and Robotics University of Granada Granada Spain

It is of paramount importance to enhance medical practices, given how important it is to protect human life. Medical therapy can be accelerated by automating patient prediction using machine learning techniques. To double the efficiency of classifiers, several preprocessing strategies must be adopted for their crucial duty in this field. Feature selection (FS) is one tool that has been used frequently to modify data and enhance classification outcomes by lowering the dimensionality of datasets. Excluded features are those that have a poor correlation coefficient with the label class, that is, they have no meaningful correlation with classification and do not indicate where the instance belongs. Along with the recurring features, which show a strong association with the remainder of the features. Contrarily, the model being produced during training is harmed, and the classifier is misled by their presence. This causes overfitting and increases algorithm complexity and processing time. The pattern is made clearer by FS, which also creates a broader classification model with a lower chance of overfitting in an acceptable amount of time and algorithmic complexity. To optimize the FS process, building wrappers must employ metaheuristic algorithms (MAs) as search algorithms. The best solution, which reflects the best subset of features within a particular medical dataset that aids in patient diagnosis, is sought in this study using the Snake Optimizer (SO). The swarm-based approaches that SO is founded on have left it with several general flaws, like local minimum trapping, early convergence, uneven exploration and exploitation, and early convergence. By employing the cosine function to calculate the separation between the present solution and the ideal solution, the logarithm operator was paired with SO to better the exploitation process and get over these restrictions. In order to get the best overall answer, this forces the solutions to spiral downward. Additionally, S

关键词： Evolutionary algorithms

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Calcification Alters the Viscoelastic Properties of Tendon Fascicle Bundles Depending on Matrix Content

SSRN

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SSRN 2022年

作者： Dabrowska, Sylwia Ekiert-Radecka, Martyna Karbowniczek, Joanna Weglarz, Wladyslaw P. Heljak, Marcin Lojkowski, Maciej Obuchowicz, Rafal Swieszkowski, Wojciech Mlyniec, Andrzej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland AGH University of Science and Technology Faculty of Metals Engineering and Industrial Computer Science Krakow Poland Institute of Nuclear Physics Polish Academy of Sciences Krakow Poland Warsaw University of Technology Faculty of Materials Science and Engineering Warsaw Poland Jagiellonian University Collegium Medicum Department of Radiology Krakow Poland Centre for Advanced Materials and Technologies CEZAMAT Warsaw University of Technology Warsaw Poland

Tendon fascicle bundles are often used as a material for biological grafts in the repair of anterior cruciate ligaments. Tendons intended for biostatic allogenic grafts must meet certain requirements ensuring the appropriate quality of the graft, such as excluding calcifications, which alter the biomechanical properties of soft tissues. In this work, we investigate the influence of early-stage calcification on the mechanical and structural properties of tendon fascicle bundles with varying matrix content. The calcification process was modeled using incubation of the samples in concentrated simulated body fluid. Mechanical and structural properties were investigated using uniaxial tests with relaxation periods and hysteresis, dynamic mechanical analysis, as well as 9.4T magnetic resonance imaging (MRI) and atomic force microscopy (AFM). Mechanical tests showed that the initial phase of calcification causes an increase in the elasticity, storage, and loss modulus, as well as a drop in the normalized value of hysteresis. Further calcification of the samples results in decreased modulus of elasticity and a slight increase in the normalized value of hysteresis. Analysis via MRI and scanning electron microscopy (SEM) showed that incubation alters fibrillar relationships within the tendon structure as well as the flow of body fluids. In the initial stage of calcification, hydroxyapatite crystals are barely visible;however, extending the incubation time for the next 14 days results in the appearance of hydroxyapatite crystals within the tendon structure and leads to damage in its structure. Our results show that the calcification process modifies the collagen-matrix relationships and leads to a change in their mechanical properties. Comparison of results from mechanical tests, SEM, and MRI provides new information regarding the impact of the calcification process on the static and dynamic properties of the tendon, as well as changes in the tendon structure. These findings w

关键词： Bone

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A Simple Walk Model for Reproducing Power Laws in Human mobility

arXiv

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arXiv 2025年

作者： Shinohara, Shuji Morita, Daiki Hirai, Hayato Kuribayashi, Ryosuke Manome, Nobuhito Moriyama, Toru Nakajima, Yoshihiro Gunji, Yukio-Pegio Chung, Ung-Il School of Science and Engineering Tokyo Denki University Saitama Japan Department of Bioengineering Graduate School of Engineering The University of Tokyo Tokyo Japan Department of Research and Development SoftBank Robotics Group Corp. Tokyo Japan Faculty of Textile Science Shinshu University Ueda Japan Graduate School of Economics Osaka City University Osaka Japan Department of Intermedia Art and Science School of Fundamental Science and Technology Waseda University Tokyo Japan

Identifying statistical patterns characterizing human trajectories is crucial for public health, traffic engineering, city planning, and epidemic modeling. Recent developments in global positioning systems and mobile phone networks have enabled the collection of substantial information on human movement. Analyses of these data have revealed various power laws in the temporal and spatial statistical patterns of human mobility. For example, jump size and waiting time distributions follow power laws. Zipf's law was also established for the frequency of visits to each location and rank. Relationship S (t) ˜ tµ exists between time t and the number of sites visited up to S (t) . Recently, a universal law of visitation for human mobility was established. Specifically, the number of people per unit area ρ (r, f ), who reside at distance r from a particular location and visit that location f times in a given period, is inversely proportional to the square of rf, i.e., ρ (r, f ) ∝ (rf )−2 holds. The exploration and preferential return (EPR) model and its improved versions have been proposed to reproduce the above scaling laws. However, some rules that follow the power law are preinstalled in the EPR model. We propose a simple walking model to generate movements toward and away from a target via a single mechanism by relaxing the concept of approaching a target. Our model can reproduce the abovementioned power laws and some of the rules used in the EPR model are generated. These results provide a new perspective on why or how the scaling laws observed in human mobility behavior arise. © 2025, CC BY.

关键词： Economic and social effects

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A New Computer-Aided Solution for the Automatic Detection of Metal Stent Struts in Follow-up Evaluation in OCT Images

A New Computer-Aided Solution for the Automatic Detection of...

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2022 Computing in Cardiology, CinC 2022

作者： Schneider, Zofia Pociask, Elzbieta Proniewska, Klaudia Kolecki, Radek Agh University of Science and Technology BioMedical Imaging Science Club Department of Biocybernetics and Biomedical Engineering Kraków Poland Center for Digital Medicine and Robotics Jagiellonian University Medical College Kraków Poland Jagiellonian University Medical College Faculty of Medicine Department of Bioinformatics and Telemedicine Kraków Poland University Hospital in Kraków Poland Jagiellonian University Medical College Kraków Poland

ISBN: (纸本)9798350300970

Stenting is commonly used in the treatment of coronary artery disease. To optimize the results of the procedure, it is crucial to evaluate the stent immediately after its implantation, and then to later monitor how it becomes covered by the neointima. One modality used for this is intravascular optical coherence tomography (IVOCT). While the identification and assessment of stent struts in IVOCT images is routinely done in clinical practice, manual analysis remains laborious and time-consuming. To address this, automated algorithms for stent segmentation have recently been developed. However, these are mainly used for stents without thick tissue coverage. This study proposes a new computer-aided method to automate the detection of both covered and uncovered metal stent struts in OCT images. In general, the algorithm involves segmenting potential stent strut shadows, analyzing the distribution of pixel intensities in detected areas, and then classifying objects. The algorithm has been validated on 606 cross-sections chosen randomly from 34 cases containing pullbacks: at baseline and at 3-36-month follow-up. The presented algorithm achieves sensitivity of 88% and precision of 90% including in-stent restenosis cases. © 2022 Creative Commons.

关键词： Stents

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