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Monocular vision navigation system for UAV autonomous mission: a real-time window-based obstacle avoidance approach

Neural Computing and Applications 2025年 1-18页

作者： Javaid, Abdulrahman Alnaser, Mustafa Baroudi, Uthman Alfaraj, Amjad Research and Development Department Yokogawa Saudi Arabia Company Al Khobar Saudi Arabia Department of Computer Engineering King Fahd University of Petroleum Minerals Dhahran Saudi Arabia Center for Intelligent Secure Systems King Fahd University of Petroleum Minerals Dhahran Saudi Arabia Department of Electrical Engineering King Fahd University of Petroleum Minerals Dhahran Saudi Arabia

The need for autonomous unmanned aerial vehicles (UAVs) is rapidly increasing for various industrial applications today. However, the realization of UAV autonomy requires a careful mix of Artificial Intelligence (AI) and computer vision (CV) techniques to be implemented to address end-user challenges and satisfy field requirements. This study aims to develop an intelligent system for UAV to achieve autonomy with standard low-cost hardware components. We have infused state-of-the-art AI and CV technologies into our developed system architecture to improve autonomous navigational capabilities of UAVs. The proposed architecture has been implemented and tested on the DJI Tello UAV equipped only with a monocular camera on-board and an inertial measurement unit (IMU). We focused on solving multiple practical technical problems that have arisen during this study due to the hardware limitations of the UAV. The study investigated methods for representing obstacles within an environmental map, which are crucial for effective avoidance and path planning, such as their edges, width, and shape, to ensure accurate detection and navigation. The experiments were carried out in an environment that included dynamic obstacles that were not considered in the map. The experimental results showed outstanding performance in terms of successful autonomous navigation for a wide range of light intensity. These results show that the proposed approach has a high potential to achieve autonomous UAV operation in the field with low hardware and energy requirements. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Motion planning

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A SiC-Based 243 kW 60 kW/L Electric Vehicle Traction Inverter

A SiC-Based 243 kW 60 kW/L Electric Vehicle Traction Inverte...

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2024 IEEE Energy Conversion Congress and Exposition, ECCE 2024

作者： Wu, Chih-Chiang Rout, Uma Sankar Chou, Hsin-Ping Hu, Jwu-Sheng Industrial Technology Research Institute Mechanical and Mechatronics Systems Research Laboratories Hsinchu Taiwan National Yang Ming Chiao Tung University Department of Electrical Engineering & Computer Science Hsinchu Taiwan

ISBN: (纸本)9798350376067

This paper investigates the evolving landscape of EV traction inverters, addressing key technical goals outlined by US Drive and analyzing parameters such as voltage, power density, and efficiency. Through innovative methodologies, a high-efficiency SiC-based traction inverter is developed to overcome challenges like spatial constraints. Leveraging international benchmarks, a cutting-edge SiC-based 800V 243 kW traction inverter with a power density of 60 kW/L is presented, poised to surpass US Drive's 2025 targets. This study emphasizes SiC technology's role in advancing EV propulsion systems towards sustainable and efficient transportation solutions. © 2024 IEEE.

关键词： power density silicon carbide high-efficiency sustainable transportation traction inverter

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A secure remote health monitoring model for early disease diagnosis in cloud-based IoT environment

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Personal and Ubiquitous Computing 2023年第3期27卷 697-713页

作者： Akhbarifar, Samira Javadi, Hamid Haj Seyyed Rahmani, Amir Masoud Hosseinzadeh, Mehdi Department of Computer Engineering Science and Research Branch Islamic Azad University Tehran Iran Department of Mathematics and Computer Science Shahed University Tehran Iran Institute of Research and Development Duy Tan University Da Nang550000 Viet Nam Mental Health Research Center Psychosocial Health Research Institue Iran University of Medical Sciences Tehran Iran

Internet of Things (IoT) and smart medical devices have improved the healthcare systems by enabling remote monitoring and screening of the patients’ health conditions anywhere and anytime. Due to an unexpected and huge increasing in number of patients during coronavirus (novel COVID-19) pandemic, it is considerably indispensable to monitor patients’ health condition continuously before any serious disorder or infection occur. According to transferring the huge volume of produced sensitive health data of patients who do not want their private medical information to be revealed, dealing with security issues of IoT data as a major concern and a challenging problem has remained yet. Encountering this challenge, in this paper, a remote health monitoring model that applies a lightweight block encryption method for provisioning security for health and medical data in cloud-based IoT environment is presented. In this model, the patients’ health statuses are determined via predicting critical situations through data mining methods for analyzing their biological data sensed by smart medical IoT devices in which a lightweight secure block encryption technique is used to ensure the patients’ sensitive data become protected. Lightweight block encryption methods have a crucial effective influence on this sort of systems due to the restricted resources in IoT platforms. Experimental outcomes show that K-star classification method achieves the best results among RF, MLP, SVM, and J48 classifiers, with accuracy of 95%, precision of 94.5%, recall of 93.5%, and f-score of 93.99%. Therefore, regarding the attained outcomes, the suggested model is successful in achieving an effective remote health monitoring model assisted by secure IoT data in cloud-based IoT platforms. © 2020, Springer-Verlag London Ltd., part of Springer Nature.

关键词： Data mining

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Complex dynamics of a magnetic microrobot driven by single deformation soft tail in random environment

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Theoretical & Applied Mechanics Letters 2024年第5期14卷 402-408页

作者： Xinpeng Shi Yongge Li Yong Xu Qi Liu School of Mathematics and Statistics Northwestern Polytechnical UniversityXi’an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China MOE Key Laboratory for Complexity Science in Aerospace Northwestern Polytechnical UniversityXi’an 710072China Department of Systems and Control Engineering Tokyo Institute of TechnologyTokyo 152-8552Japan

This study focuses on exploring the complex dynamical behaviors of a magnetic microrobot in a random *** purpose is to reveal the mechanism of influence of random disturbance on microrobot *** paper establishes stochastic dynamic models for the microrobot before and after deformation,considering the influence of Gaussian white *** system responses are analyzed via steady-state probability density functions and first deformation *** effects of different magnetic field strengths and fluid viscosities on the movement speed and angular velocity of the microrobot are *** results indicate that random disturbances can cause deformation of microrobots in advance compared to the deterministic *** work contributes to the design and motion control of microrobots and enhances the theoretical foundation of microrobots.

关键词： Magnetic microrobot Stochastic dynamic models Random disturbances

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TizenRT OS Based Data Compression Algorithms for IoT Devices 4

TizenRT OS Based Data Compression Algorithms for IoT Devices

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4th IEEE International Conference on Computing, Communication, and Intelligent systems, ICCCIS 2023

作者： Chamak, Tanmoy Roy Kaushik, Sachi Singhal, Shiven Dadheech, Aditya Anitha, Prof. A. Jenicka, Prof. S. Thapa, Vidisha School of Computer Science Engineering and Information Systems Vellore Institute of Technology Tamil Nadu Vellore India Samsung Research Institute Karnataka Bangalore India

ISBN: (纸本)9798350306118

The paper investigates the integration and adaptation of the LZ4 compression algorithm within the context of TizenRT, in addition to existing algorithms Miniz and LZMA. TizenRT, a real-Time operating system tailored for Internet of Things (IoT) devices, presents unique challenges in balancing compression efficiency and resource constraints. The study evaluates the performance of LZ4 alongside Miniz and LZMA in terms of compression ratios, processing overhead, and memory utilization. Experimental results demonstrate the feasibility of LZ4's adoption in TizenRT, highlighting its potential to enhance data compression and decompression operations while adhering to the stringent requirements of IoT devices. The findings contribute to the optimization of data management strategies within the TizenRT ecosystem. © 2023 IEEE.

关键词： Internet of things

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Design and development of a Fixed-Wing Tail-Sitter Tethered VTOL Drone with Custom Autopilot and Robust Control Techniques 16th

Design and Development of a Fixed-Wing Tail-Sitter Tether...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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First thrust measurements in ionic multi-propeller rotational engines

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Propulsion and Power research 2023年第1期12卷 44-58页

作者： Adrian Ieta Marius Chirita Electrical and Computer Engineering Department SUNY OswegoOswegoNY 13126-3599USA Applied Physics/Condensed Matter Department National Institute for Research and Development in Electrochemistry and Condensed MatterTimisoaraRO-300224Romania

Rotary ionic engines(RIEs)with multi-coaxial contra-rotating propellers(12.6 cm diameter)and their axial thrust are investigated in laboratory conditions,in air at atmospheric pressure,for the first *** goal is to evaluate more advantageous configurations that may be scaled up and further help with development of rotary ionic *** propellers are designed with regular pin-emitter electrodes placed coaxially inside a cylindrical collector *** high voltage is applied,propellers spin generating conventional axial thrust which is measured with an electronic scale in a“see-saw”*** to 40 mN thrust was obtained in single propeller RIE at 2600 rpm,0.34 mA,37.5 kV,and an optimal collector electrode diameter of 17 *** thrust can be obtained with two and three propellers at constant current per propeller but at a decreased *** the axial propeller-separation showed that propeller-interaction is minimal above 5 ***-to-power and thrust-tocurrent ratios were calculated and *** experimentally confirm here for the first time that within certain limits,the thrust-to-power variation can be assessed by the propeller kinetic energy-to-power ratio and also by the impedance of the gap(voltage-to-current ratio).A comparison of RIE arrays performance with one,two,and three coaxial propellers and the same total number of propellers per array(six)is also *** arrays with multi-coaxial propellers can provide larger thrust densities than single-propeller ***,arrays employing two coaxial propeller unit may be more weight effective.

关键词： Ionic wind EHD pump Electrohydrodynamics Corona discharge Thrust-to-power Propeller Ion propulsion Plasma thrusters Electroaerodynamic thrusters Ionocraft

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Fruit Ripeness Detection using RipeNet 3

Fruit Ripeness Detection using RipeNet

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3rd International Conference on Electronics and Renewable systems, ICEARS 2025

作者： Bhavana, Kapa Sumathi, R. Vanaja, Kandregula Manjula, S. Srinivasulu, T. Divya, Siripuri Kalasalingam Academy of Research and Education Department of Computer Science and Engineering India Nehru Institute of Engineering and Technology Department of Computer Science and Business Systems Tamilnadu Coimbatore India Department of Information Technology Andhra Pradesh Surampalem India Koneru Lakshmaiah Education Foundation Department of Computer Science and Engineering Telangana Hyderabad India

ISBN: (纸本)9798331509675

Fruits are absolutely delicious for the most part, but more importantly, they are good for healthy life. Fruits are nature's candy and offer all sorts of health benefits besides the great taste. They provide necessary nutrients to the body so that it will not be susceptible to disease or other ailments. Fruits contain enough fiber to keep our digestive system in top health form. Fruits also helps to regulate the water level in body as well as your blood sugar levels, which means that will usually feel hungry less often if we consumes a lot of fruits. The easier it is for people to recognize that a fruit is ripe and ready for selling at the market allows the farmers, in some cases, to sell their crop early before it would normally spoil. If we look closely, we see that many times people don't buy something because it appears rotten or way past its peak ripeness, which demonstrates how products spoil right on time. This study proposed a user-convenient system for fruit ripeness detection using the convolutional neural network (CNN) based on RipeNet structure. © 2025 IEEE.

关键词： Fruits

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Calculation on Current Distributions among Transposed Three- and Six-parallel Conductors in Superconducting Armature Coils for Superconducting Synchronous Motors 36

Calculation on Current Distributions among Transposed Three-...

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36th International Symposium on Superconductivity, ISS 2023

作者： Kawasaki, G. Miura, S. Miyazaki, H. Iwakuma, M. Department of Electrical and Computer Engineering National Institute of Technology Miyakonojo College Miyazaki885-8567 Japan Research Institute of Superconductor Science and Systems Kyushu University Fukuoka819-0395 Japan

The armature coil of the superconducting synchronous motor for electric aircraft requires a current of 1,000 A or more. However, a single superconducting tape at liquid nitrogen temperatures is insufficient for this operating current. Therefore, the armature coil should be composed of multi-strand parallel conductors. If the coil is constructed from parallel conductors, the inductance balance between the parallel conductors will be collapsed, so the current distributions will be non-uniform. As a solution for this issue, the uniform current distribution can be achieved by the transposition technique that changes the order in which tapes are stacked. Our previous research has developed the transposition method for the 2n-strand parallel conductors (n = 1, 2, 3, and so on). However, some of the superconducting synchronous motors are actually designed using a number of parallel conductors other than 2n. This study focused on the three- and the six-strand parallel conductors. We analytically clarified the unique transposition configuration for the three-strand parallel conductors that achieves uniform current distribution, and the transposition configuration for the six-strand parallel conductors by combining the transposition configuration for the three- and two-strand parallel conductors. As a result, the current distribution ratio became less than ±5% when the number of turns of the double pancake coil was a multiple of six by applying the transposition. © Published under licence by IOP Publishing Ltd.

关键词： Superconducting coils

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