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IEEE International Conference on Development and Learning, ICDL

作者： Paris Oikonomou Athanasios Dometios Mehdi Khamassi Costas S. Tzafestas School of Electrical and Computer Engineering National Technical University of Athens Greece Sorbonne Université CNRS Institute of Intelligent Systems and Robotics Paris France

ISBN: (数字)9798350348552

ISBN: (纸本)9798350348569

Learning to anticipate other agents' future movements has gained increased interest in robotics, especially in situations requiring interaction. Such a prediction allows the robotic systems to plan their actions as a task evolves and before its completion. Specifically, in case of active robot collaboration, early decision making might ensure smoothness during motion and collision avoidance. While previous work has addressed prediction and recognition of primitive actions, to our knowledge little attention has been paid to the aspect of unseen ones. In this paper, we introduce a method for online continuous prediction of the evolution of previously unseen trajectories based on a recency weighting of past observations using a library of trained probabilistic movement primitives (ProMPs). The proposed method makes the assumption that parts of any novel trajectory could be considered as a combination of simpler ones. A probability distribution is derived across the evolution of the trajectory, and is updated in a recursive manner. We present a set of simulation experiments to showcase the new method, and compare it with a state-of-the-art method.

关键词： Decision making Collaboration Probabilistic logic Libraries Probability distribution Trajectory Collision avoidance

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Analysis and Design Optimization of Surface Permanent Magnet Motor to Improve Torque Density and Ripple 11

Analysis and Design Optimization of Surface Permanent Magnet...

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11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Shakhin, Yussuf Talapiden, Kulash Minh Thao, Nguyen Gia Bagheri, Mehdi Duc Do, Ton Department of Robotics and Mechatronics AstanaZ05H0P9 Kazakhstan Toyota Technological Institute Graduate School of Engineering Japan Department of Electrical and Computer Engineering AstanaZ05H0P9 Kazakhstan

ISBN: (纸本)9788957083505

Small-scale permanent magnet motor to reach high torque density and low torque ripple is discussed in this research. To increase the torque density, meanwhile making the motor size smaller and lighter, the motor axial length within a constrained diameter is optimized in view of various pole-slot configurations. Different slot-poles are selected and various combinations are studied, and the stator windings are optimized. To compare the torque density and ripple of new designs, precise models are created and simulated through ANSYS Maxwell 2D FEA under constant operational conditions, such as rated speed, torque, and power. Over the new designs, the influence of loss and temperature distribution variations in motor elements are analyzed. The simulation results show that the proposed 20-pole 18-slot motor design will obtain superior torque density and lower torque ripple compared to the baseline design. The final design provides a 30.7 % improvement of the torque density within the same rated torque condition. © 2023 The Korean institute of Power Electronics.

关键词： Finite element method

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Development of a Grid-Connected Microinverter Based on the Integration of the CUK Converter with a Switchgear Structure 2

Development of a Grid-Connected Microinverter Based on the I...

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2nd International Conference on Intelligent Data Communication Technologies and Internet of Things, IDCIoT 2024

作者： Subhamathi, A.S.F. Anuradha, T. Suganya, A.V. Shanthi, K. Umamaheswari, P. Jose Anand, A. Department of Electrical and Electronics Engineering Karpagam Academy of Higher Education Tamilnadu Coimbatore641021 Department of Electrical and Electronics Engineering KCG College of Technology Tamil Nadu Chennai600097 India Department of Electrical and Electronics Engineering Sri Muthukumaran Institute of Technology Kanchipuram Chennai600069 Department of Computer Science and Business Systems Veltechmultech Dr Rangarajan Dr Sakunthala Engineering College Tamil Nadu Chennai600062 India Department of Electronics and Communication Engineering KCG College of Technology Karapakkam Chennai600 097

ISBN: (纸本)9798350327533

The main focus of this research work is on designing the dimensions of the proposed DC-DC and DC-AC converters. Since it is an unprecedented DC-DC converter, it is important to enable the DC-DC converter to enable simulations in PSIM software. In addition, the size of the proposed DC-AC converter was provided for the purpose of making simulations and specifying the actual components for implementing the 180 W prototype, with the current flowing into the phase. In addition, simulation results are obtained, which show that it is possible to find the maximum power point of the PV module by implementing the MPPT algorithm without having to measure the current of the PV module. © 2024 IEEE.

关键词： Cuk converter

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Development of a Two-Level, Four-Leg Smart Inverter for Microgrid Applications

Development of a Two-Level, Four-Leg Smart Inverter for Micr...

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IEEE International Symposium on Power Electronics for Distributed Generation systems (PEDG)

作者： Buck F. Brown Jan Westman Johan Enslin Zheyu Zhang Department of Electrical and Computer Engineering Clemson University North Charleston SC USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

ISBN: (数字)9798350361001

ISBN: (纸本)9798350361018

Microgrids are growing at a rapid pace, and as a result, power electronic inverters are more necessary than ever. However, the development of an adaptable inverter based on a changing control objective that also contains grid-related functions is lacking. This paper investigates the development of a novel two-level, four-leg smart inverter for a microgrid that can solve this problem. First, the inverter topology is discussed, modeled, and controlled using a standard dual-loop voltage control. Second, grid-forming functions are investigated. Third, an additional layout and control system are created for the grid-following inverter. Fourth, a simulation is constructed, and the capabilities of the smart inverter are highlighted.

关键词： Legged locomotion Grid following Layout Microgrids Inverters Topology Distributed power generation

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A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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Chatbot and its Impact on the Retail Industry 3

Chatbot and its Impact on the Retail Industry

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3rd International Conference on Intelligent Data Communication Technologies and Internet of Things, IDCIoT 2025

作者： Tatikonda, Reshmi Kempanna, M. Thatikonda, Ramya Bhuvanesh, A. Thota, Ragupathi Keerthanadevi, R. Department of Computer Information Systems University of the Central Missouri Warrensburg United States Department of AI and ML Bangalore Institute of Technology Bengaluru India Department of Information Technology University of the Cumberlands Williamsburg United States Department of Electrical and Electronics Engineering PSN College of Engineering and Technology Tamil Nadu Tirunelveli India Department of Information Technology Jawaharlal Technological University Hyderbad India Department of Computer Science and Engineering PSN College of Engineering and Technology Tirunelveli India

ISBN: (纸本)9798331527549

This study explores the transformative potential of chatbots in the retail industry, highlighting their role in enhancing customer engagement, optimizing business processes, and revolutionizing the nature of retail interactions. Through a comprehensive review of existing literature and case studies, the paper delves into the cognitive processes underlying human-chatbot interactions and examines their impact on customer experience, satisfaction, and loyalty. Chatbots serve a wide array of operational functions, including inventory management, automated order processing, data-driven analytics, and employee training. These functionalities streamline workflows, improve efficiency, and maximize resource utilization. The paper further explores the innovative applications of chatbots, including AI-driven personalization, conversational commerce, and seamless integration with emerging technologies. By analyzing both the current applications and challenges of chatbot technology in retail, the study uncovers the exciting opportunities they present for shaping the future of retail by fostering more personalized, efficient, and interactive customer experiences. © 2025 IEEE.

关键词： Inventory control

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Pushing AI to wireless network edge: an overview on integrated sensing, communication, and computation towards 6G

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Science China(Information Sciences) 2023年第3期66卷 7-25页

作者： Guangxu ZHU Zhonghao LYU Xiang JIAO Peixi LIU Mingzhe CHEN Jie XU Shuguang CUI Ping ZHANG Shenzhen Research Institute of Big Data Future Network of Intelligence Institute (FNii) The Chinese University of Hong Kong (Shenzhen) School of Science and Engineering (SSE) The Chinese University of Hong Kong (Shenzhen) State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Peking University Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Peng Cheng Laboratory State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications

Pushing artificial intelligence(AI) from central cloud to network edge has reached board consensus in both industry and academia for materializing the vision of artificial intelligence of things(AIoT) in the sixth-generation(6G) era. This gives rise to an emerging research area known as edge intelligence, which concerns the distillation of human-like intelligence from the vast amount of data scattered at the wireless network edge. Typically, realizing edge intelligence corresponds to the processes of sensing, communication,and computation, which are coupled ingredients for data generation, exchanging, and processing, ***, conventional wireless networks design the three mentioned ingredients separately in a task-agnostic manner, which leads to difficulties in accommodating the stringent demands of ultra-low latency, ultra-high reliability, and high capacity in emerging AI applications like auto-driving and metaverse. This thus prompts a new design paradigm of seamlessly integrated sensing, communication, and computation(ISCC) in a taskoriented manner, which comprehensively accounts for the use of the data in downstream AI tasks. In view of its growing interest, this study provides a timely overview of ISCC for edge intelligence by introducing its basic concept, design challenges, and enabling techniques, surveying the state-of-the-art advancements, and shedding light on the road ahead.

关键词： sixth-generation (6G) edge intelligence artificial intelligence of things (AIoT) integrated sensing communication and computation (ISCC)

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Recyclable thin-film soft electronics for smart packaging and e-skins

arXiv

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arXiv 2025年

作者： Carneiro, Manuel Reis de Almeida, Aníbal T. Tavakoli, Mahmoud Majidi, Carmel Soft Machines Lab Department of Mechanical Engineering Carnegie Mellon University PittsburghPA15213 United States Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

Despite advances in soft, sticker-like electronics, few efforts have dealt with the challenge of electronic waste. Here, we address this by introducing an eco-friendly conductive ink for thin-film circuitry composed of silver flakes (Ag) and a water-based polyurethane (WPU) dispersion. This ink uniquely combines high electrical conductivity (1.6x105 S/m), high resolution digital printability, robust adhesion for microchip integration, mechanical resilience, and recyclability. Recycling is achieved with an ecologically-friendly processing method to decompose the circuits into constituent elements and recover the conductive ink with a decrease of only 2.4% in conductivity. Moreover, adding liquid metal enables stretchability of up to 200% strain, although this introduces the need for more complex recycling steps. Lastly, we demonstrate on-skin electrophysiological monitoring biostickers along with a recyclable smart package with integrated sensors for monitoring safe storage of perishable foods. © 2025, CC BY-NC-ND.

关键词： Electronic Waste

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Collaborative Computing in Non-Terrestrial Networks: A Multi-Time-Scale Deep Reinforcement Learning Approach

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IEEE Transactions on Wireless Communications 2024年第5期23卷 4932-4949页

作者： Cao, Yang Lien, Shao-Yu Liang, Ying-Chang Niyato, Dusit Shen, Xuemin Southwest Jiaotong University School of Information Science and Technology Chengdu611756 China Institute of Intelligent Systems National Yang Ming Chiao Tung University Tainan City711 Taiwan Chengdu611731 China Nanyang Technological University School of Computer Science and Engineering Jurong West639798 Singapore University of Waterloo Department of Electrical and Computer Engineering WaterlooONN2L 3G1 Canada

Constructing earth-fixed cells with low-earth orbit (LEO) satellites in non-terrestrial networks (NTNs) has been the most promising paradigm to enable global coverage. The limited computing capabilities on LEO satellites however render tackling resource optimization within a short duration a critical challenge. Although the sufficient computing capabilities of the ground infrastructures can be utilized to assist the LEO satellite, different time-scale control cycles and coupling decisions between the space- and ground-segments still obstruct the joint optimization design for computing agents at different segments. To address the above challenges, in this paper, a multi-time-scale deep reinforcement learning (DRL) scheme is developed for achieving the radio resource optimization in NTNs, in which the LEO satellite and user equipment (UE) collaborate with each other to perform individual decision-making tasks with different control cycles. Specifically, the UE updates its policy toward improving value functions of both the satellite and UE, while the LEO satellite only performs finite-step rollout for decision-makings based on the reference decision trajectory provided by the UE. Most importantly, rigorous analysis to guarantee the performance convergence of the proposed scheme is provided. Comprehensive simulations are conducted to justify the effectiveness of the proposed scheme in balancing the transmission performance and computational complexity. © 2002-2012 IEEE.

关键词： Resource allocation

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Design of a Rat Robotic Forelimb 13th

Design of a Rat Robotic Forelimb

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13th International Conference on Biomimetic and Biohybrid systems, Living Machines 2024

作者： Pham, Huy Jackson, Clayton B. Armstead, Benjamin Nourse, William R. P. Andrada, Emanuel Quinn, Roger D. Department of Mechanical and Aerospace Engineering Case Western Reserve University ClevelandOH44106 United States Institute of Zoology and Evolutionary Research Friedrich-Schiller University Jena Germany Department of Electrical Computer and Systems Engineering Case Western Reserve University ClevelandOH44106 United States

ISBN: (纸本)9783031725968

This paper presents the design of robotic rat forelimbs, scaled to 2.5 times the size of a female Sprague-Dawley rat. Based on a previous rat hindlimb model, significant enhancements were implemented to facilitate manufacturing, robustness, improve overall performance, and enhance biological accuracy. The two front legs are each equipped with five motors to enable sagittal rotations of the scapula, elbow, and wrist joints, along with scapula abduction and adduction. The leg segment dimensions are based on a scanned rat bones model, but the shapes are modified for 3D printing and assembly. Parts are printed using micro carbon fiber filled nylon, strengthened by various amounts of continuously inlaid carbon fiber. Revolute joints are driven by motors, and a pulley-belt transmission system is incorporated to move wrist and elbow motors higher up in order to reduce the inertia of the leg. Furthermore, the foot structure comprises two segments that are passively controlled by two torsion springs to enhance flexibility and facilitate a more naturalistic movement. Additionally, a new electrical board is integrated to enhance operational smoothness and align with the control scheme. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Machine design

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