Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleopera...
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ISBN:
(数字)9798350376364
ISBN:
(纸本)9798350376371
Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleoperation systems allow remote control of mobile ground robots, especially with the surge of 5G technology that promises reliable and low latency communication. Current works research on exploring the latest features from the 5G standard, including ultra-Reliable Low-Latency Communication (uRLLC) and network slicing. However, these features may not be available depending on the Internet Service Provider (ISP) and communication devices. Thus, this work proposes a network architecture for the teleoperation of ground mobile robots in industrial environments using commercially available devices over the 5G Non-Standalone (NSA) standard. Experimental results include an evaluation of the network and End-to-End (E2E) latency of the proposed system. The results show that the proposed architecture enables teleoperation, achieving an average E2E latency of 347.19 ms.
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the fi...
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip.
Radio-Frequency IDentification (RFID) technologies automate the identification of objects and persons, having several applications in retail, manufacturing, and intralogistics sectors. Several works explore the applic...
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Precision spraying in agriculture is crucial for optimizing the application of pesticides while minimizing environmental impact. Despite significant advancements in control models for spraying systems, predictive cont...
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ISBN:
(数字)9798350352344
ISBN:
(纸本)9798350352351
Precision spraying in agriculture is crucial for optimizing the application of pesticides while minimizing environmental impact. Despite significant advancements in control models for spraying systems, predictive control algorithms were not used. This paper addresses this gap by proposing a real-time control framework that integrates predictive control strategies to ensure consistent pressure output in a trailer sprayer. Based on information from various sensors, the framework anticipates and adapts to dynamic environmental conditions, enhancing accuracy and sustainability in spraying practices. A methodology is developed to define a proportional valve model. Based on this valve model, the predictive control model optimizes valve movements to minimize errors between predicted and reference pressures, thereby improving spraying efficiency. This study demonstrates the viability of predictive control in improving precision spraying systems applicable to autonomous robots, encouraging future advances in agricultural spraying technologies.
作者：
P. BogackiM. DługoszT. TalaśkaR. DługoszAptiv Services Poland
Kraków Poland Institute of Telecommunications
Faculty of Computer Science Electronics and Telecommunications AGH University of Science and Technology Kraków Poland Faculty of Control
Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Poznan Poland Faculty of Telecommunication
Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland
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 ...
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.
Industry 4.0 is transforming manufacturing environments, with robotics being a key technology that enhances various capabilities. The flexibility of Autonomous Mobile Robots has led to the rise of multi-robot systems ...
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The present work researches driver drowsiness, which constitutes a huge problem, and can turn into fatal incidents potentially involving the losing of lives, being it while driving in a highway (car, bus, truck, etc.)...
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The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Differ...
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The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.
Cloud computing promises the advent of a new era of service boosted by means of virtualization *** process of virtualization means creation of virtual infrastructure,devices,servers and computing resources needed to d...
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Cloud computing promises the advent of a new era of service boosted by means of virtualization *** process of virtualization means creation of virtual infrastructure,devices,servers and computing resources needed to deploy an application *** extensively practiced technology involves selecting an efficient Virtual Machine(VM)to complete the task by transferring applications from Physical Machines(PM)to VM or from VM to *** whole process is very challenging not only in terms of computation but also in terms of energy and *** research paper presents an energy aware VM allocation and migration approach to meet the challenges faced by the growing number of cloud data *** Learning(ML)based Artificial Bee Colony(ABC)is used to rank the VM with respect to the load while considering the energy efficiency as a crucial *** most efficient virtual machines are further selected and thus depending on the dynamics of the load and energy,applications are migrated fromoneVMto *** simulation analysis is performed inMatlab and it shows that this research work results in more reduction in energy consumption as compared to existing studies.
The growing reliance on e-commerce and the demand for efficient intralogistics operations have increased the need for automation, while labour shortages continue to pose significant challenges. When combined with the ...
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