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Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot

Microphone-accelerometer based 3D posture estimation for a h...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Y. Bando K. Itoyama M. Konyo S. Tadokoro K. Nakadai K. Yoshii H. G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science Tohoku University Miyagi Japan Graduate School of Information Science and Engineering Honda Research Institute Japan Co. Ltd. Saitama Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

3D posture estimation for a hose-shaped robot is critical in rescue activities due to complex physical environments. Conventional sound-based posture estimation assumes rather flat physical environments and focuses only on 2D, resulting in poor performance in real world environments with rubble. This paper presents novel 3D posture estimation by exploiting microphones and accelerometers. The idea of our method is to compensate the lack of posture information obtained by sound-based time-difference-of arrival (TDOA) with the tilt information obtained from accelerometers. This compensation is formulated as a nonlinear state-space model and solved by the unscented Kalman filter. Experiments are conducted by using a 3m hose-shaped robot with eight units of a microphone and an accelerometer and seven units of a loudspeaker and a vibration motor deployed in a simple 3D structure. Experimental results demonstrate that our method reduces the errors of initial states to about 20 cm in the 3D space. If the initial errors of initial states are less than 20 %, our method can estimate the correct 3D posture in real-time.

关键词： Microphones Accelerometers Loudspeakers Estimation Robot sensing systems Three-dimensional displays

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Personnel System Development with Integrated Military Education Information System (MEIS) in Supporting the Personnel Position and Career 7

Personnel System Development with Integrated Military Educat...

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7th International Conference on ICT for Smart Society, ICISS 2020

作者： Setyaningrum, Leli Supangkat, Suhono H. Warnars, Harco Leslie Hendric Spits Abraham, Juneman Abdurachman, Edi Bina Nusantara University Doctorate Program of Computer Science Jakata Barat11530 Indonesia Institut Teknologi Bandung School of Electrical Engineering and Informatics Bandung40132 Indonesia Nusantara University Graduate Program Doctor of Computer Science Bina Computer Science Department BINUS Jakarta11530 Indonesia Bina Nusantara University BINUS Faculty of Humanities Psychology Department Jakarta11480 Indonesia

ISBN: (纸本)9781665404228

Personnel and education data very important for organizations, including the military. All data related to military personnel will give effect positions and careers in the military field. The integration of personnel and education data can assist in processing and decision making. An analysis is needed so that the developed system can be useful for the long term. Analysis with IT balanced scorecard and COBIT® 2019, will be able to help and fill the gaps in the existing system based on the objectives of the military organization itself. It is shown that the domains BAI05 (Managed Organizational Change) and DSS02 (Managed Service Requests and Incidents) are still not being implemented well. The system developed will have the features and capabilities to support the organization in achieving its goals, including in the field of staffing and education. Besides, it provides convenience in making decisions in terms of positions related to personnel careers. © 2020 IEEE.

关键词： Decision making

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Estimating the 3D center point of an object with Kinect sensor RGB-D images

Estimating the 3D center point of an object with Kinect sens...

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IEEE Latin American Robotics Symposium, LARS

作者： Gustavo Fardo Armênio João Alberto Fabro Renzo De Rosa Tognella Felipe Pierre Conter Marlon Vaz De Oliveira Everson De Souza Silva Computer Engineering Course - UTFPR Curitiba PR Brazil PPGCA-Graduate Program on Applied Informatics UTFPR-Federal University of Technology - Paraná Curitiba PR Brazil Information System Course - UTFPR Curitiba PR Brazil UNILA - University of Latin American Integration Foz do Iguaçu PR Brazil CPGEI-Graduate Program on Electrical Engineering and Industrial Informatics/UTFPR IFPR- Federal Institute of Technology - Paraná Pinhais PR Brazil PPGCA-Graduate Program on Applied Informatics UTFPR Curitiba Brazil

This article describes the estimation of a 3D point using a Kinect sensor and the Robot Operating System (ROS) along with You Only Look Once (YOLO) for object detection. The Kinect sensor provides RGB-D images, which are used to create a Point Cloud representing the geometry of the environment. ROS is used as a robotics development framework, while YOLO is employed to identify objects in the scene. The article presents the packages used, the datasets used for measurement, and the configuration of ROS and YOLO. Additionally, the functionalities of RViz, a 3D visualization tool used in the tests, are explored. Furthermore, it covers the methods employed, the acquired data, and an analysis of the error margin in relation to the measurement of the distance between the Kinect and the object. The findings and techniques presented in this study contribute to addressing the challenges faced in the RoboCup@Home competition, specifically in the context of object manipulation tasks.

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Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array

Human-voice enhancement based on online RPCA for a hose-shap...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Yoshiaki Bando Katsutoshi Itoyama Masashi Konyo Satoshi Tadokoro Kazuhiro Nakadai Kazuyoshi Yoshii Hiroshi G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science Honda Research Institute Japan Co. Ltd Miyagi Japan Graduate School of Information Science and Engineering Tokyo Institute of Technology Saitama Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR.

关键词： Rescue robots Microphone arrays Matrix decomposition Radio frequency Mobile robots

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Numerical analysis of the harmonics influence on linear interpolation for Power Quality assessment

Numerical analysis of the harmonics influence on linear inte...

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International Conference on Harmonics and Quality of Power

作者： Cesar David Paredes Crovato Leonardo Bandeira Soares Sergio Bampi Electrical Engineering Graduate Program-PPGEE Feevale University Unisinos University Novo Hamburgo/Sao Lepoldo Brazil Microelectronics Graduate Program-PGMicro-Informatics Federal University of Rio Grande do Sul-UFRGS Porto Alegre Brazil

This paper presents a numerical analysis to determine the minimum sampling frequency for which a linear interpolation of AC Power signals can be reliably used in the digital domain, regarding the harmonics influence for Power Quality (PQ) assessment. The proposed approach of this paper is based on exhaustive simulations which take into account a large combination of distinct values for module and phase of the third and fifth harmonic components at a given range of sampling frequencies. Our results show that the linear interpolation produces spectrum module errors up to 33.38% for a sampling frequency of 250/32 kHz, while the module percentage error is up to 2.08% at 250/4 kHz. The main contribution of this work is to best determine the minimum sampling frequency that can be used, considering the presence of harmonics components, which makes the linear interpolation an efficient technique for PQ assessment. A minimum sampling frequency turns out to be advantageous for the digital signal processing performance and cost.

关键词： Harmonic analysis Interpolation IEC standards Power system harmonics Power quality Electromagnetic compatibility

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The Influence of Overcharging and Over-Discharging on the Capacity Degradation of Lithium-Ion Batteries

The Influence of Overcharging and Over-Discharging on the Ca...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Joelton Deonei Gotz Marco Antonio Simões Teixeira Fernanda Cristina Corrêa Emilson Ribeiro Viana Alceu André Badin Milton Borsato Graduate Program in Electrical and Computer Engineering Federal Technological University of Paraná (UTFPR-CT) Curitiba Brazil Graduate Program in Informatics (PPGIa) Pontifical Catholic University of Paraná (PUC-PR) Curitiba Brazil Graduate Program in Electrical Engineering Federal Technological University of Paraná (UTFPR-PG) Ponta Grossa Brazil Physics Department Graduate Program in Physics and Astronomy Federal Technological University of Paraná (UTFPR-CT) Curitiba Brazil Graduate Program in Mechanical Engineering Federal Technological University of Paraná (UTFPR-CT) Curitiba Brazil

ISBN: (数字)9798331541606

ISBN: (纸本)9798331541613

Lithium-ion batteries (LIB) are the best technology for supplying and storing energy for electric mobility systems. Despite that, this technology is sensitive to abuses that can compromise its lifetime and cause fire and explosion risks. In this context, if LIB is not correctly controlled, some abuses, such as overcharging (OC) and over-discharging (OD), can be observed and provoke a loss of capacity. Therefore, this work presented the application of several experiments in cells, of the NMC type, under OC and the combination of OC and OD. The results indicated that cells charged until 4.4 and 4.5 V and discharged until 3.0 V do not lose capacity for twenty-five cycles, but more cycles should be done to understand the impact over time. On the other side, the cell charged until 4.6 and 4.8 V had its security protection romped in the fourth charging cycle, and the cell charged until 5.0 V had its safety compromised in the first charging cycle. Conversely, cells with a combination of OC and OD were more compromised. In this context, while a cell is submitted only with OC and does not lose capacity, a cell under OC and then under OD had its protection romped in the third charging cycle. Cells under 4.6 V and 4.8 V lost capacity during the second charging cycle. In conclusion, OC provokes a high level of degradation in the cell, but the combination of OC and OD causes even more degradation.

关键词： Degradation Lithium-ion batteries Battery management systems Propulsion Security Reliability Protection Stress Monitoring Predictive maintenance

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A Comparative Study of Battery Energy Storage Systems in Isolated Grids: Novel Approach to Shave Peaks & Optimize Energy Costs

A Comparative Study of Battery Energy Storage Systems in Iso...

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International Conference on Power engineering and Renewable Energy (ICPERE)

作者： Bagas Maulana Sutardi Ariesa Budi Zakaria Ilham Akbar Kevin Marojahan Banjar-Nahor Nanang Hariyanto Graduate Program PLN-ITB PLN Corporate University Jakarta Indonesia School of Electrical Engineering and Informatics Institut Teknologi Bandung (ITB) Bandung Indonesia

ISBN: (纸本)9781665455497

Isolated power systems are typically found in rural areas that are far separated from the power grid. Rapid decrease in BESS (Battery Energy Storage Systems) cost provides new opportunities and preferences for utilities to store cheap energy at low loads and power out that energy at peak loads. BESS is installed to shave or level demand during peak hours in an isolated system can avoid the use of peaking generations mostly coming from oil fuels. Considering the BESS function for peak shaving, the approach is to simulate the unit commitment of different battery sizes at 10 MW, because the use of oil fuels about 10 MW at peak load, so the simulation will be representing the total energy of the battery needed by the system. Based on the simulation, the life cycle cost is significantly greater than the benefit at all power and energy ratings. The purpose of this paper is to demonstrate the comprehensive technical and financial analysis needs to find the optimum battery type and capacity to provide optimum impact and financially benefit the system with an approach to shaving peaks and energy costs. A study-case method is demonstrated by taking an isolated system as the base and BESS performance can accelerate voltage in the subsystem for every substation when discharging at peak load. The simulation results that 10 MW/10 MWh lithium-ion batteries provide the highest benefit compared to the life cycle cost.

关键词： Renewable energy sources Costs Substations Oils Simulation Voltage Power grids

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0.9 V, 5 nW, 9 ppm/oC resistorless sub-bandgap voltage reference in 0.18μm CMOS

0.9 V, 5 nW, 9 ppm/oC resistorless sub-bandgap voltage refer...

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2014 IEEE 5th Latin American Symposium on Circuits and Systems, LASCAS 2014

作者： Mattia, Oscar E. Klimach, Hamilton Bampi, Sergio Microelectronics Graduate Program Federal University of Rio Grande Do sul Porto Alegre RS Brazil Electrical Engineering Department Federal University of Rio Grande Do sul Porto Alegre RS Brazil Informatics Institute Federal University of Rio Grande Do sul Porto Alegre RS Brazil

ISBN: (纸本)9781479925070

In this work a novel resistorless sub-bandgap voltage reference (BGR) is introduced. It is a self-biased and small area topology that works in the nano-ampere current consumption range, and under 1 V of power supply. The analytical behavior of the circuit is described, and simulation results for a standard 0.18 μm CMOS process are analysed. A reference voltage of 479 mV is demonstrated, with a temperature coefficient of 8.79 ppm/oC for the 0 to 125 °C range, while the power consumption of the whole circuit is 4.86 nW under a 0.9 V power supply at 27 oC. The estimated silicon area is 0.0012 mm2. © 2014 IEEE.

关键词： CMOS integrated circuits

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Revealing a Country’s Government Discourse Through BERT-based Topic Modeling in the US Presidential Speeches

Revealing a Country’s Government Discourse Through BERT-bas...

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International Conference on Computer, Control, informatics and Its Applications (IC3INA)

作者： Rafi Mahmud Zain Sajarwo Anggai Tukiyat Ahmad Musyafa A. A. Waskita Graduate Program of Informatics Engineering Universitas Pamulang Pamulang Indonesia Research Center for Data and Information Sciences National Research and Innovation Agency Bandung Indonesia

ISBN: (数字)9798331542313

ISBN: (纸本)9798331542320

This paper analyzes presidential speeches from the United States, delivered by the current president, Joe Biden, from his inauguration until April 3, 2024, using BERT-based topic modeling techniques. Since the role and actions of the United States affect global affairs, inferring latent topics from these speeches are important for making informed decisions and also useful to researchers. We provide experiments combining different embedding methods and clustering algorithms for dimensionality reduction. Our experiment results demonstrated that using DistilBERT embeddings followed by HDBSCAN clustering and UMAP dimensionality reduction consistently produced meaningful and interpretable topics, and this paper introduces the UMASS and NPMI metrics for evaluating topic coherence, with the best values of these metrics among the other schemes investigated. Some of the dominant themes conveyed in the American president’s state of the union speech that were successfully revealed in this study include international cooperation, alongside significant attention to environmental, community, health, and economic issues.

关键词： Measurement Dimensionality reduction Economics Digital control Visualization Government Coherence Medical services Security informatics

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Are folksonomies shared conceptualizations?

Are folksonomies shared conceptualizations?

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International Conference on Computer Supported Cooperative Work in Design

作者： Josiane M. Pinheiro Cesar A. Tacla Emerson Cabrera Paraiso Graduate Prog. in Electrical and Computer Engineering Federal Technological University of Parana Curitiba-Pr Brazil Graduate Program in Informatics Pontificia Universidade Catolica do Parana Curitiba-Pr Brazil

This article presents a method to assess whether folksonomies are useful shared conceptualizations for conceptual modeling. A method based on the tripartite model (actors, concepts and instances) induces from social applications a folksonomy related to a domain of knowledge. The hypothesis of this paper is that if folksonomies are shared conceptualizations, then using them in conceptual modeling should reduce the number of divergences between actors when they elicit terms to be part of a model (a concept map in this article). A controlled experiment of conceptual modeling was performed with experimental groups who received tags inducted from data of categorizations from Delicious and control groups who received terms extracted from Web pages categorized on Delicious. The results show that the experimental groups obtained less divergences (on average) in elicitation of terms when compared to control groups.

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