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IEEE International Symposium on Parallel and Distributed Processing Workshops and Phd Forum (IPDPSW)

作者： Sérgio Cruz Daniel M. Muñoz Milton E. Conde Carlos H. Llanos Geovany A. Borges Department of Mechanical Engineering Faculty of Gama Electronics Engineering Graduate Program Department of Electrical Engineering University of Brasilia Brasília D.F Brazil

This work describes a hardware architecture for implementing a sequential approach of the Extended Kalman Filter (EKF) that is suitable for mobile robotics tasks, such as self-localization, mapping and navigation problems. As such algorithm is computationally intensive, commonly it is implemented in PC-based platforms to be employed on larger robots. In order to allow the development of small robotic platforms, as those required in many current state of the art research (for instance micro robotics area), small size, low-power and high precision computation capabilities are required. This work proposes a hardware architecture for self-localization task, allowing the fusion of data coming from different sensors such as ultrasonic and laser rangefinder. The architecture is based on a single precision floating-point arithmetic, allowing the operations to be computed with large precision and dynamic range. The system has been adapted for achieving a reconfigurable platform, suitable for research tasks, and applied to a Pioneer 3AT mobile robot platform from Mobile Robots Inc. In order to compare the performance of the system, the same localization technique has been implemented in a high-end PC, as well as using an embedded microprocessor Nios II from Alter a Inc. In this paper several metrics have been used to evaluate system performance and suitability, measuring FPGA resources consumption and performance. Finally, the suitability of reconfigurable devices for such kind of applications has been verified and also discussed.

关键词： Field programmable gate arrays Hardware Kalman filters Robot sensing systems Sensor fusion

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A Machine Vision-Based Deep Learning Inference Approach of Biker Safety Hat Detection System 7

A Machine Vision-Based Deep Learning Inference Approach of B...

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7th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2020

作者： MacAlisang, Jonel Ordovez, Dennis P. Ledda, Mark Kristian C. Melegrito, Mark P. Obon, Ana Marie C. Technological University of the Philippines Technology Licensing Office- ITSO Manila Philippines EARIST General Education-Computer Department Manila Philippines Don Mariano Marcos Memorial State University Graduate Studies La Union Philippines Technological University of the Philippines Department of Electronics and Communications Engineering Manila Philippines University of the East Graduate Program Manila Philippines

ISBN: (纸本)9780738105048

In the Philippines road accidents were prevalent among motorcycle riders. The motorcyclist was required to wear their helmet when on the road. Some motorcyclists didn't follow the rules on wearing a helmet as safety precautions on the road. To address this, policymakers are focusing on enforcing safe and law-abiding behavior in traffic. There is, however, a lack of comprehensive data on the safety-critical behavioral metric of the use of motorcycle helmets, especially in developing countries where the main mode of transport is the motorcycle. Targeted enforcement and safety campaigns that are critical for accident reduction are prohibited by this shortage of knowledge. Hence, The researchers developed an algorithm for detecting the helmet that was worn by the motorcyclist, by using a deep learning approach the object detection was done successfully. Based on the annotated images, frames of video, and live feed data that was collected, To detect active bikes, the researchers taught the algorithm to use their helmets. An overview of the algorithm's success on an annotated research data set and a study of available data on the use of human-registered helmets indicate that our approach is extremely reliable. © 2020 IEEE.

关键词： Object detection

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Data-Driven Control and Behavior-Based Control Applied to a SISO Mobile Robot

Data-Driven Control and Behavior-Based Control Applied to a ...

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IEEE Latin American Robotics Symposium, LARS

作者： M. A. Pastrana Karine R. Santos Alceu B. C. de Farias Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil Faculty of Gama Biomedical Engineering Graduate Program University of Brasilia Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

With the advancement of technology, systems in many different areas of application have become more complex, and obtaining reliable mathematical models is a task that is increasingly becoming more difficult as well. To overcome these issues, new methodologies have emerged, such as the one known as Data-Driven-Control (DDC), which uses the input and output data of the system to design a controller, and Behavior-Based-Control (BBC), which provides the controller based on the desired behavior of a system. In this work, these two methodologies were applied to obtain the transfer function of a Single-Input Single-Output mobile robotic platform that moves parallel to a wall. A Proportional Integral Derivative controller was used to control the left wheel, while the right wheel was set to a constant speed, allowing the mobile robot to maintain a constant distance from the wall. The controller was tuned utilizing root locus methodology with an overshot of 16.7%, settling time of 6.45 seconds, and a static error of 2.1%. Additionally, disturbances were added to test the robustness of the mobile robot model and the PID controller.

关键词： Analytical models Biological system modeling Wheels Transfer functions Robot sensing systems Control systems Mathematical models

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Event-triggered control of TS fuzzy systems with guaranteed membership function mismatch ⁎

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IFAC-PapersOnLine 2021年第4期54卷 74-79页

作者： Rafael N. Silva Luciano Frezzatto Fernando O. Souza Víctor C.S. Campos Graduate program in Electrical Engineering Universidade Federal de Minas Gerais Belo Horizonte MG Brazil Department of Electronics Engineering Universidade Federal de Minas Gerais Belo Horizonte MG Brazil

This paper proposes augmenting the traditional quadratic event-triggered conditions for Takagi-Sugeno (TS) fuzzy models, by also considering triggering conditions defined by a variation of the membership function values. Suitable Linear Matrix Inequality (LMI) conditions are presented that make full use of the proposed modified triggering conditions to co-design the control law and triggering conditions. Under some mild assumptions, the closed loop system is guaranteed to avoid the Zeno behavior for its triggering instants. A numerical example is presented to illustrate the proposed conditions.

关键词： Event-based control Convex Optimization Takagi-Sugeno fuzzy models Linear Matrix Inequalities Stability of Nonlinear Systems

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Reconfiguration of Discrete Event Systems using Synchronizing Words ⁎

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IFAC-PapersOnLine 2020年第4期53卷 453-458页

作者： Lucas V.R. Alves Patrícia N. Pena Technical College and the Graduate Program in Electrical Engineering Universidade Federal de Minas Gerais Belo Horizonte Brazil Electronics Engineering Department Universidade Federal de Minas Gerais Belo Horizonte Brazil

In modern manufacturing systems, the current state of the system is not always obvious. In many situations, such knowledge is needed to lead the system to a specific state such that a determined task can be started or a maintenance task can be executed. Usually, to achieve this, it is necessary to find and store a sequence from each state to the desired state or implement an on-line algorithm to find the desired state. In this work we propose a two step procedure to reconfigure a Discrete Event System, regardless its current state. First, the automaton of the closed loop behavior of the system is turned into a complete automaton (with complete transition function) and then, an algorithm is applied to search for a synchronizing word.

关键词： Synchronizing Automata Supervisory Control Theory Discrete Event Systems

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A transitional view of immune inspired techniques for anomaly detection

A transitional view of immune inspired techniques for anomal...

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13th International Conference on Intelligent Data engineering and Automated Learning, IDEAL 2012

作者： Costa Silva, Guilherme Palhares, Reinaldo M. Caminhas, Walmir M. Graduate Program in Electrical Engineering Federal University of Minas Gerais Av. Antônio Carlos 6627 31270-901 Belo Horizonte MG Brazil Department of Electronics Engineering Federal University of Minas Gerais Av. Antônio Carlos 6627 31270-901 Belo Horizonte MG Brazil

ISBN: (纸本)9783642326387

The use of Immune Inspired approaches for anomaly detection have been adopted in the literature because of its analogy with body resistance in the human immune system provided against agents which causes diseases. There are many models in biology that attempt to explain the immune system behavior, as well some engineering systems inspired on these models. Our goal is to document the development of these models in a transitional view, some aspects which may be considered on these algorithms and on their applicability in engineering problems, with some examples. © 2012 Springer-Verlag.

关键词： Immune system

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Synchronism Recovery of Discrete Event Systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 10474-10479页

Most of the systems are build of components that should stay synchronized for the system to work properly. Usually, the synchronism of these subsystems is maintained through communication and this communication is subject to failures, leading the system to a undesirable state, where the states of the components do not match. In this sense, this paper deals with the problem of resynchronizing components of a system, leading to a global state where the individual states of the subsystems match with each other. In order to do so, an algorithm, using ideas of synchronizing automata, automata that reach a specific state when a synchronizing word is executed, regardless the origin state, is presented.

关键词： Discrete Event Systems Recovery Synchronizing Automata

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Dilatometric study of ferroelectric Rb2CdI4 monoclinic crystal grown by czochralski method

Dilatometric study of ferroelectric Rb2CdI4 monoclinic cryst...

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12th International Meeting on Ferroelectricity, IMF-12 and the 18th IEEE International Symposium on Applications of Ferroelectrics, ISAF-18

作者： Yamaguchi, T. Gotou, S. Miyoshi, T. Kasano, H. Mitsui, T. Kurihama, T. Shimizu, F. Takashige, M. Department of Electrical Engineering School of Science and Engineering Meisei University Hino-shi Tokyo 191-8506 Japan Electrical Engineering Graduate School of Science and Engineering Meisei University Hino-shi Tokyo 191-8506 Japan Department of Physics Graduate School of Science and Engineering Yamaguchi University Yamaguchi-shi Yamaguchi 753-8512 Japan Laboratory of Developmental Program Faculty of Pharmaceutical Sciences Teikyo University Sagamihara-shi Kanagawa 229-0195 Japan Department of Electronics and Information Engineering College of Engineering Chubu University Kasugai-shi Aichi 487-8501 Japan Department of Electronics and Computer Science College of Science and Engineering Iwaki Meisei University Iwaki-shi Fukushima 970-8551 Japan

Crystal growth of Rb2CdI4 was performed by Czochralski method. Transparent colourless crystals with monoclinic structure were obtained. Temperature dependence of the dielectric constant along the b-axis was measured with variation of frequency. The thermal expansions x i (i = a, b, c and a′;a′ = a + c) along the four independent axes were measured both by clip-type strain-gauge dilatometer and X-ray diffraction methods. These results show distinct anomalies associated with the ferroelectric transition at TC= 210 K. Copyright © 2010 Taylor & Francis Group, LLC.

关键词： X ray diffraction

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Comparison of new techniques based on EMD for control of a SSVEP-BCI

Comparison of new techniques based on EMD for control of a S...

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IEEE International Symposium on Industrial electronics (ISIE)

作者： Richard M. G. Tello Sandra Mara Torres Müller Teodiano Bastos-Filho Andre Ferreira Post-Graduate Program of Electrical Engineering (PPGEE). UFES Vitoria Brazil Department of Computer and Electronics (CEUNES) Sao Mateus Brazil

ISBN: (纸本)9781479924004

This paper presents the comparation of three different feature extraction techniques based on the Empirical Mode Decomposition (EMD) for a SSVEP-BCI. This approach based on the characterization of the signal by EMD, is proposed as a novel alternative to other techniques and it was demonstrated that it exceeds both in accuracy rate and Information Transfer Rate (ITR). The experiments were performed in an offline way, and seven volunteers participated of the study. The stimulis were generated both by LCD and LEDs. The frequencies used were 8, 11, 13 and 15 Hz. The results here reported such represent the average of the seven participants, achieving a success rate of 81% and ITR of 23.32 bits/min of the total set of cases analyzed. It is further confirmed that the highest success rates and ITRs were obtained for stimulation by LEDs.

关键词： Electrodes

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Relationship between the IIP3 of the doubly-terminated ladder Gm-C filter and the transconductors

Relationship between the IIP3 of the doubly-terminated ladde...

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IEEE Conference on Electron Devices and Solid-State Circuits

作者： Terdpun Choogorn Jirayuth Mahattanakul The Electrical Engineering Graduate Program Mahanakorn University of Technology Nongchok Bangkok Thailand Department of Electronics Engineering Mahanakorn University of Technology Nongchok Bangkok Thailand

In this paper, relationship between the IIP3 of the doubly-terminated ladder low-pass Gm-C filter and the IIP3 of the transconductors employed in the filter is derived. It was found that the IIP3 of the Gm-C filter IIP3 is about 1.2 dBV higher than the IIP3 of the transconductors. Simulation results are found to be in excellent agreement with the analytical results.

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