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作者： Ok, Sangjae Xu, Zhenyao Lee, Dong-Hee Department of Mechatronics Engineering Kyungsung University Busan48434 Korea Republic of State Key Laboratory of Robotics Shenyang Institute of Automation The Chinese Academy of Sciences Shenyang110016 China

Low-power and high-speed BLDC(Brushless DC) motor is widely used in vacuum cleaners. This paper presents a sensorless speed control scheme for a high-speed BLDC motor of a hand-stick vacuum cleaner using a variable slope sliding mode observer(SMO). The SMO using the signum function is very effective for the sensorless estimation of the BLDC motor. However, the chattering effect on the slide surface from the signum function decreases the sensorless performance in the wide speed range. The sigmoid function instead of the signum function can reduce the chattering effect. However, the convergence is inversely proportional to the reduced chattering effect. In order to reduce the chattering effect and keep the proper convergence performance, the proposed method uses a variable acceleration slope of the sigmoid function. In the low-speed range, the acceleration slope of SMO is decreased to reduce the chattering. And, it is increased to improve the convergence in the high-speed region. The acceleration slope of the sigmoid function is designed as a function of the estimated speed to keep the constant convergence with reduced chattering in the sensorless speed and position estimation. In order to verify the proposed sensorless control scheme, 115 krpm speed 540W BLDC motor for a vacuum cleaner is tested with various SMO methods. In the experimental results, the proposed method shows better sensorless speed control performance in the wide speed range. © 2023 IEEE.

关键词： Sensorless control

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Design and development an Agriculture robot for Seed sowing, Water spray and Fertigation 1

Design and development an Agriculture robot for Seed sowing,...

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1st International Conference on Computational Intelligence and Sustainable engineering Solution, CISES 2022

作者： Fadhaeel, Taha Patel, H.C. Al Ahdal, Ahmed Rakhra, Manik Singh, Dalwinder LovelyProfessional University Department of Mechatronics Robotics Engineering Phagwara India Lovely Professional University School of CSE Phagwara India

ISBN: (数字)9781665480048

ISBN: (纸本)9781665480048

Agriculture is one of the oldest activities practiced by man. Due to its importance in our daily life and reliance on it, many technologists try to update a new development based on agricultural robots that perform well in a strict, efficient, and timely manner due to the tremendous development in the field of robotics, the solution to the main problems faced by the agricultural field those problems such as random sowing which cost more seeds that is costly, consumption more water and quantity of *** paper develop a robot that can solve such problem measure the distance between seeds that lead to save wastage of water, determined the plants needs of fertilization by using soil PH sensor. The motion of the robot controlled by Android Bluetooth connected to HC-05 Bluetooth module and raspberry pi 3 B+ for video streaming and detected the object. © 2022 IEEE.

关键词： Robots

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Dynamic Analysis of Systems with a Nonlinear Elastomeric Isolator in Simulink 6

Dynamic Analysis of Systems with a Nonlinear Elastomeric Iso...

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6th International Conference on Information Technologies in engineering Education, Inforino 2022

作者： Poznyak, Elena V. Radin, Vladimir P. Novikova, Olga V. Chirkov, Victor P. Babin, Oleg A. Kuznetsov, Sergey F. National Research University Moscow Power Engineering Institute Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Russia

ISBN: (纸本)9781665405775

The paper presents Simulink models of nonlinear elastomeric isolator (EI) widely used in mechanical engineering and construction for vibration protection of structures. Models with a hysteretic bilinear deformation diagram and, for comparison, with a bilinear diagram without hysteresis are considered. Step and frequency responses are obtained and investigated;conclusions are given. The elements of the study will be helpful for the development of the professional skills and competencies of young engineers in the field of applied problems of vibration and shock protection;it can be a basis for the development of more complex multidimensional systems. © 2022 IEEE.

关键词： Vibrations Isolators Multidimensional systems Software packages Numerical analysis Electric shock Mathematical models

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Convergence Analysis for Delay Dependent LFC Scheme for Power Systems Networks Over Open Communication Networks with Disturbances

Convergence Analysis for Delay Dependent LFC Scheme for Powe...

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2023 IEEE International Conference on Industrial Technology, ICIT 2023

作者： Islam, Shafiqul Ncf 263 Xavier University of Louisiana Dual-Degree Computer Science and Engineering Intelligent Robotics Mechatronics and Autonomous Systems Lab New OrleansLA70125 United States

ISBN: (纸本)9798350336504

This paper presents a delay-dependent convergence criterion for load frequency control (LFC) for smart power grid networks with the presence of disturbances and time-varying delays. The LFC scheme comprises delayed remote measurement and control signals with local state feedback signals. The convergence criteria are developed by using Lyapunov-Krasovskii functional for both symmetrical and asymmetrical time-varying delays associated with remote measurement and control channel. First, the analysis shows that all the power system states are bounded and asymptotically stable without the presence of disturbances. Then, the convergence analysis proves that all the power systems states are bounded and their bounds guarantee the convergence property of the H∞ control with the presence of bounded disturbances. These convergence properties are achieved by using well know Linear Matrix Inequalities (LMIs). Compared with the existing design, the proposed analysis uses both symmetrical and asymmetrical time-varying delays in the measurement channel from RTU to the control center and in the control channel from the control center to the power generation unit. In contrast with reported designs, the proposed design and analysis uses the disturbances associated with the closed loop systems appearing from modeling errors and other external load disturbances and faults. © 2023 IEEE.

关键词： Closed loop systems

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Vlm-Nav: Mapless Uav-Navigation Using Monocular Vision Driven by Vision-Language Model

SSRN

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SSRN 2025年

作者： Sarker, Gobinda Chandra Azad, A.K.M. Rahman, Sejuti Hasan, Md. Mehedi Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka1000 Bangladesh Riyadh13318 Saudi Arabia

Autonomous vehicles, such as Unmanned Aerial Vehicles (UAVs), have the potential to completely reshape various industries such as parcel delivery, agriculture, surveillance, and search-and-rescue missions. Consequently, the demand for safe, cost-effective, and intelligent navigation systems is crucial to ensure reliable performance in complex and dynamic environments. In this study, we propose a novel vision-based UAV navigation method that integrates depthmap estimation with a Vision-Language Model (VLM) for efficient obstacle avoidance and path planning. The system processes RGB images captured by the UAV, transforming them into depth maps using DepthAnythingV2, a powerful zero-shot depth estimator. These depth maps are then analyzed by the VLM, which detects nearby obstacles and plans avoidance maneuvers. We have explored Gemini-flash and GPT-4o model as VLM in our study. A fully connected network integrates the VLM output with the UAV’s relative heading angle to predict the optimal course of action, enabling the UAV to dynamically navigate complex environments toward its target. The system’s effectiveness is validated through simulations in AirSim using Blocks and Downtown West environment. The UAV consistently reaches its destination, avoiding obstacles and achieving a near perfect task completion rate of 0.98. By eliminating the need for costly sensors such as LiDAR and operating without pre-existing maps, our solution provides a cost-efficient, and generalizable approach to real-time UAV navigation, especially in unfamiliar or dynamic settings and highlights emerging trends in autonomous systems research utilizing VLMs. The navigation demonstration and the source code are openly available at (https://***/vlmnav/) to encourage further research. © 2025, The Authors. All rights reserved.

关键词： Drones

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Adaptive Sliding Mode control of Traffic Flow in Uncertain Urban Networks 21st

Adaptive Sliding Mode control of Traffic Flow in Uncertain U...

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21st Polish Control Conference, PCC 2023

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Ordys, Andrew Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland School of Engineering and Information Technology The University of New South Wales CanberraACT Australia

ISBN: (纸本)9783031351693

One of the most significant issues in the cities is the heavy traffic that everyday citizens are involved with. In recent decades, various sciences, such as computing science and control and traffic science have been incorporated to address this problem. In this paper, theoretically, the Terminal Sliding Mode Control (TSMC) method is proposed to control the traffic flow in urban networks. Firstly, a two regions model for urban traffic with various uncertainties and external disturbances is considered;subsequently, the Lyapunov stability method is employed to control the urban traffic flow in this model by using designed control inputs and adaptive laws. Finally, a numerical simulation for a case study is performed in Simulink/MATLAB to reveal the effectiveness of the proposed designs in this paper. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Simulink

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Preprocessing Taste Data for Deep Neural Networks 14

Preprocessing Taste Data for Deep Neural Networks

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14th International Conference on Information and Communication Technology Convergence, ICTC 2023

作者： Lee, Hyunjong Jung, Han Hee Kwak, Jeongho Yea, Junwoo Choi, Jihwan P. Jang, Kyung-In Department of Electrical Engineering and Computer Science Daegu Korea Republic of Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of Dgist Department of Electrical Engineering and Computer Science Daegu Korea Republic of Department of Aerospace Engineering Dajeon Korea Republic of

ISBN: (纸本)9798350313277

Analyzing wine using taste data is a promising field due to the explosive expansion of online commerce. However, because of the wide variety of wine types with different flavors and aromas, it is difficult for consumers to choose the wine that suits their taste, and also difficult for sellers to recommend appropriate wines to consumers. Therefore, it is necessary to numerically analyze and classify wine, and a deep learning algorithm which mimics the human brain is appropriate for analyzing the wine data [1]. In this paper, we introduce several studies of wine classification using deep learning architectures and propose preprocessing methods for applying the taste data of wine to deep learning networks. © 2023 IEEE.

关键词： data augmentation deep learning preprocessing taste classification taste sensor wine

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Advancing Pedestrian Attribute Classification: A Multi-Head Deep Learning Paradigm 12

Advancing Pedestrian Attribute Classification: A Multi-Head ...

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2024 12th International Conference on Systems and Control, ICSC 2024

作者： Bekbolat, Amanali Kurokawa, Syuhei Tanveer, Muhammad Hassan Ali, Md. Hazrat Nazarbayev University SEDS Dept. of Mechanical and Aerospace Engineering Astana Kazakhstan Kyushu University Dept. of Mechanical Engineering Nishi-ku Fukuoka819-0395 Japan Kennesaw State University Dept. of Robotics and Mechatronics Engineering MariettaGA30067 United States

ISBN: (纸本)9798331531812

Evaluating pedestrians is critical when designing new systems for more sophisticated video monitoring and innovative computer vision-based security. Although convolutional neural networks successfully learn different features from images, modeling the pedestrians to the details needed for such tasks remains an issue. In this paper, we present a novel approach based on the multi-head deep learning model to identify the pedestrian attributes, which has merits in this method. Thus, the proposed approach yields better accuracy, robustness, and efficiency in comparison to state-of-the-art methods on a novel database consisting of pedestrian images. We also incorporate further pre-processing steps whereby data augmentation, transfer learning, and model ensembling are additional methods that are used to improve the generality and applicability of the approach proposed in this study. This framework empirically achieves promising accuracy and outperforms existing approaches, proving the usefulness and robustness of our idea in terms of pedestrian attribute recognition. © 2024 IEEE.

关键词： Contrastive Learning

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Semantic Segmentation in Unmanned Aerial Vehicle Surveillance for Detailed Urban Tree Mapping and Species Classification 6

Semantic Segmentation in Unmanned Aerial Vehicle Surveillanc...

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6th International Conference on Advancements in Computing, ICAC 2024

作者： Senanayake, S.M.R.B. Herath, H.M.K.K.M.B. Yasakethu, S.L.P. Madhusanka, B.G.D.A. Sri Lanka Technology Campus Department of Mechatronics Engineering Padukka Sri Lanka Sri Lanka Technology Campus Computational Intelligence and Robotics Research Lab Padukka Sri Lanka The Open University of Sri Lanka Department of Mechanical Engineering Nugegoda Sri Lanka

ISBN: (纸本)9798331517878

Urban greening is becoming increasingly important, which has increased interest in tracking and analyzing urban vegetation and highlighted the necessity for an accurate and practical evaluation of greenery inside cities. Unmanned Aerial Vehicles (UAVs) have become an essential tool for mapping vegetation at a broad scale, frequently using orthographic views to manage the heavy workload. This research examines semantic segmentation and a particular issue with tree species identification brought on by perspective views from different heights. The methodology involved the semantic segmentation methods used without orthorectification on a single low-altitude ( © 2024 IEEE.

关键词： Vegetation mapping

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Development of a Modular Robotic Finger for Gripping Various Shaped Objects

Development of a Modular Robotic Finger for Gripping Various...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jisu Kim Jinman Cho Yeon Kang Changwha Lee Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

With the introduction of the Fourth Industrial Revolution and the spread of smart factories, the demand for small-quantity batch production systems is rapidly increasing. As a result, the implementation of robotic gripper systems that can handle various objects is required. Until now, grippers have to be replaced or newly developed each time depending on the object to be gripped. In addition, conventional gripper systems require a picking system based on a sophisticated gripping plan to handle products with complex shapes. This requires the integration of vision and various sensor systems, which in turn increases the cost of the system and makes it challenging to apply it to real industrial sites. To solve this problem, we developed a robotic finger by applying the paired crossed flexure hinge (p-CFH) developed in our previous research. The p-CFH-based robotic finger is driven by an underactuated wire-driven method that can be controlled by a single motor and has compliance and shape adaptive features. It also has the advantage of being modularized, easy to install and replace, and easy to maintain. The proposed finger module has a tip force of about 0.58 kg and its impact absorption capacity has been experimentally verified. In addition, gripping experiments were conducted on a total of four objects with different characteristics, and successful gripping was confirmed.

关键词： Service robots Shape Absorption Fingers Force Robot sensing systems Sensor systems Grippers Robots Smart manufacturing

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