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Ceres: The wheeled mobile agricultural robot designed for vegetables care

International Journal of Vehicle Autonomous Systems 2020年第2期15卷 174-195页

作者： Sanchez, H. Guillermo Solaque-Guzmán, Leonardo E. Guevara, Adriana Riveros Faculty of Engineering Mechatronics Engineering Program Universidad Militar Nueva Granada Bogotá Cundinamarca Colombia

Outdoor robots require high performance and safety, in the agricultural robot case, factors such as temperature, light conditions or obstacles, must be taken into account. However, despite the navigation problem, the robot must support agricultural tasks during the navigation through the crop, these agricultural tasks are highly related to the specific crop. In this paper, an agricultural robot (Ceres) for vegetable crops is described. The design of controllers for velocities and path following based on classical techniques and Lyapunov theory are shown. Likewise, agricultural tasks such as fumigating, fertilising and weeding are performed by Ceres, the implemented tasks are made using different tools coupled to a movable 3D system to act over the entire crop during the robot operation. The systems named above are described throughout the document. All subsystems are integrated using the Robotic Operating System (ROS). Finally, field test are performed to the entire robot over grass terrain. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Navigation

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Dynamic Numerical Studies of a Rotorcraft Entering and Exiting Rectangular Tunnel

Dynamic Numerical Studies of a Rotorcraft Entering and Exiti...

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IEEE International Conference on e-Business engineering (ICEBE)

作者： Uzu-Kuei Hsu Hong-Bin Chang Yao-Yu Tsai Chang-Hsien Tai Bachelor Program in Artificial Intelligence and Mechatronics National Pingtung University of Science and Technology Kaohsiung City Taiwan SCERDC General Research Service Center National Pingtung University of Science and Technology Kaohsiung City Taiwan Dept. of Vehicle Engineering National Pingtung University of Science and Technology Kaohsiung City Taiwan ROC

In recent years, the utilization of multi-rotor drones has seen a steady rise. Unmanned aerial vehicles (UAV) have found diverse applications, including aerial photography, transportation, military operations, and agriculture. The advent of these compact flying machines offers humanity a range of convenient and versatile choices across various sectors. Although unmanned aerial vehicles hold significant practical value, their stable flight is contingent on favorable weather conditions. Consequently, it becomes crucial to investigate the influence of environmental airflow on aircraft stability. This is particularly important for small machines like rotary-wing aircraft operating in confined spaces, where understanding the aerodynamic effects of the flow field is crucial to avert potential crashes. This study delves into the variations in the flow field during the entry and exit of a single rotor into a tunnel. Utilizing dynamic simulations, it examines how tunnels impact the rotor’s flow field and analyzes thrust curves to understand dynamic rotor behavior. The study also explores the effect of vortex generation on the rotor and employs a simple square tunnel to assess how tunnel size and flight speed influence the rotor’s flow field during flight. The findings hold potential as reference points to enhance flight stability during tunnel flights.

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A Label-Free Droplet Sorting Platform Integrating Dielectrophoretic Separation for Estimating Bacterial Antimicrobial Resistance

Biosensors

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Biosensors 2024年第5期14卷 218-218页

作者： Yan, Jia-De Yang, Chiou-Ying Han, Arum Wu, Ching-Chou Doctoral Program in Tissue Engineering and Regenerative Medicine National Chung Hsing University Taichung City402 Taiwan Institute of Molecular Biology National Chung Hsing University Taichung City402 Taiwan Department of Electrical and Computer Engineering Texas AM University College StationTX77843 United States Department of Biomedical Engineering Texas AM University College StationTX77843 United States Department of Chemical Engineering Texas AM University College StationTX77843 United States Department of Bio-Industrial Mechatronics Engineering National Chung Hsing University Taichung City402 Taiwan Innovation and Development Center of Sustainable Agriculture National Chung Hsing University Taichung City402 Taiwan

Antimicrobial resistance (AMR) has become a crucial global health issue. Antibiotic-resistant bacteria can survive after antibiotic treatments, lowering drug efficacy and increasing lethal risks. A microfluidic water-in-oil emulsion droplet system can entrap microorganisms and antibiotics within the tiny bioreactor, separate from the surroundings, enabling independent assays that can be performed in a high-throughput manner. This study presents the development of a label-free dielectrophoresis (DEP)-based microfluidic platform to sort droplets that co-encapsulate Escherichia coli (E. coli) and ampicillin (Amp) and droplets that co-encapsulate Amp-resistant (AmpR) E. coli with Amp only based on the conductivity-dependent DEP force (FDEP) without the assistance of optical analyses. The 9.4% low conductivity (LC) Luria–Bertani (LB) broth diluted with 170 mM mannitol can maintain E. coli and AmpR E. coli growth for 3 h and allow Amp to kill almost all E. coli, which can significantly increase the LCLB conductivity by about 100 μS/cm. Therefore, the AmpR E. coli/9.4%LCLB/Amp where no cells are killed and the E. coli/9.4%LCLB/Amp-containing droplets where most of the cells are killed can be sorted based on this conductivity difference at an applied electric field of 2 MHz and 100 Vpp that generates positive FDEP. Moreover, the sorting ratio significantly decreased to about 50% when the population of AmpR E. coli was equal to or higher than 50% in droplets. The conductivity-dependent DEP-based sorting platform exhibits promising potential to probe the ratio of AmpR E. coli in an unknown bacterial sample by using the sorting ratio as an index. © 2024 by the authors.

关键词： Escherichia coli

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Real engineering Problems in an Undergraduate Course: The learning methodologies and assessment tools

Real Engineering Problems in an Undergraduate Course: The le...

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World engineering Education Forum - Global engineering Deans Council (WEEF-GEDC)

作者： Ricardo A. Diogo André L.A.C. Venâncio Maria Angela M. Roveredo Santos Eduardo F.R. Loures Neri dos Santos Knowledge Engineering&Management Graduate Program Federal University of Santa Catarina Florianopolis Brazil Industrial&Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Brazil Control and Automation Engineering/Mechatronics Engineering Pontifical Catholic University of Parana Curitiba Brazil

ISBN: (纸本)9781665424899

This paper presents the context of the Ubiquitous Computing course carried out in an Industrial engineering undergraduate program throughout 2020 and the first semester of 2021. This course took advantage of the Institutional Modernization program led by the Control and Automation engineering Undergraduate program, which consists in the modernization of undergraduate engineering programs at the Pontifical Catholic University of Paraná. The course aimed to help develop competencies, i.e., a set of knowledge, skills, and attributes aligned with Student Outcomes suggested by ABET. Also, the course proposal brought the productive sector very close to the academic environment, proposing real engineering problems as challenges. However, what are the methods and assessment tools for practical learning in a course with modern elements? This paper proposed the flipped learning and the Challenge-Based Learning Framework with the support of the CDIO Framework as learning methodologies to answer such question. Additionally, quizzes, tests, presentations, rubrics, and peer evaluation were applied as assessment tools to measure the student's progress. Finally, students were listened to about their perceptions during the course. The results suggested that the learning methodologies and assessment tools are suitable for the course context, although some improvements are expected for the following course offers. Moreover, students approved the initiative to bring in real challenges proposed by companies, the mentoring hours, and the feedback about the projects.

关键词： Automation Companies Industrial engineering Ubiquitous computing Proposals Mentoring engineering education

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Automatic Detection Of Data Manipulation in Power Systems

Automatic Detection Of Data Manipulation in Power Systems

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International Conference on Electric Power and Energy Conversion Systems (EPECS)

作者： Leen Aihalabi Ahmed Osman Shayok Mukhopadhyay Mechatronics Engineering Program American University of Sharjah Sharjah UAE

ISBN: (数字)9781728175461

ISBN: (纸本)9781728175478

Securing and protecting a power grid system is critical because a power grid transmits and distributes power to millions of people across a country. One of the significant topics in this field is having a real time model that monitors and controls power system grids. A robust monitoring system can be built based on state estimation techniques especially when dealing with non-linear structures such as power systems. In order to have a secured power network, the data acquired by the SCADA systems has to be reliable and consistent. This is achieved by enforcing false data detection methods where a malicious interference can be detected. Such methods can differentiate between genuine data and an intrusion attacking the network. Artificial Neural Networks (ANNs) are considered one of the widely used techniques in detecting false data injections. This work develops a strategy for automatic detection of data manipulation in a power system network. The main contribution is to introduce an ANN based system that can detect any data manipulation whether bypassed by the state estimators or not. The model is capable of detecting the intrusion with a minimum of three random meters in a grid being manipulated. Such an automatic intrusion flagging system may allow operators to take the required decisions before a large-scale attack can occur.

关键词： State estimation Mathematical model Monitoring Transmission line measurements Reliability Power systems SCADA systems

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An Evaluation of Direct Image Based Visual Tracking System for Autonomous Manipulation* 48

An Evaluation of Direct Image Based Visual Tracking System f...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Islam, S. Saleh, A. Dias, J. Sunda-Meya, A. Xavier University of Louisiana Dual Degree Engineering Program Intelligent Robotics Mechatronics & Autonomous Systems Lab 1 Drexel Drive New OrleansLA70125 United States Khalifa University United Arab Emirates Coimbra3030-260 Portugal Khalifa University Khalifa University Autonomous Vehicles Lab United Arab Emirates Xavier University of Louisiana College of Arts & Sciences 1 Drexel Drive New OrleansLA70125 United States

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

In this paper, we implement and evaluate a direct image-based visual tracking system for autonomous manipulation applications. The direct image-based visual tracking method is developed to relax complex image processing tasks from traditional image and position-based visual tracking methods. The visual signals are constructed by using multiresolution coefficients. The method compares the multiresolution image transformation of the current and desired images and uses the mismatch between them to drive the system. The method needs to design a multiresolution interaction matrix with half and details images. The matrix connects the multiresolution image transformation coefficients with the velocity of the manipulator and controller. To illustrate the effectiveness, the direct image-based tracking system design is implemented and evaluated to locate the position of the valve stem and set of wrenches for autonomous grasping and manipulation for fire fighting applications. © 2022 IEEE.

关键词： Linear transformations

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Investigation and Analysis of Green Refrigerant Zero ODP as an Alternative Refrigerant Lower Cost and GWP

Research Square

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Research Square 2021年

作者： Saengsikhiao, Piyanut Taweekun, Juntakan Maliwan, Kittinan Energy Technology Program Faculty of Engineering Prince of Songkla University Songkhla Hat Yai90112 Thailand Department of Mechanical and Mechatronics Engineering Faculty of Engineering Prince of Songkla University Songkhla Hat Yai90112 Thailand

This research presents the development of hydrocarbon refrigerant mixture in hydrofluorocarbon blend, a non-flammable refrigerant that was retrofitted to replace R22. The properties of all refrigerant, as analyzed using national institute of standards and technology (NIST) reference fluid thermodynamic and transport properties database (REFPROP) software and NIST vapor compression cycle model accounting for refrigerant thermodynamic and transport properties (CYCLE_D-HX) software, are in accordance with the CAN/ANSI/AHRI540 standards of the Air-Conditioning, Heating, and Refrigeration Institute (AHRI). The results of this research showed. The cooling coefficient of performance (COPc) of R453A was nearly R22 at all condition with zero ODP. The R453A can be retrofitted to replace R22A due to its composition of POE, Class A1 incombustibility, and lower toxicity. R453A is another alternate refrigerant option that is composed of 1.2% hydrocarbon (HCs) R600 (0.6%) and R601a (0.6%), and is consistent with the evolution of fourth-generation refrigerants that contain a mixture of HFCs, HFOs, HCs, and natural refrigerants, which are required to produce a low-GWP, zero-ozone-depletion-potential (ODP), high-capacity, low-operating-pressure, and nontoxic refrigerant. © 2021, CC BY.

关键词： Refrigerants

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Implementation of VR-based personal basketball team-practice equipment

Implementation of VR-based personal basketball team-practice...

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IEEE Global Conference on Life Sciences and Technologies (LifeTech)

作者： Hiroki Honma Yoshiaki Iida Yasuyuki Okumura Katsuyuki Fujii Yuki Kuno Graduate Program of Mechatronics Graduate School of Science and Engineering Nanzan University Nagoya Japan Physical Education Center Nanzan University Nagoya Japan Faculty of Science and Engineering Nanzan University Nagoya Japan

ISBN: (数字)9781665418751

ISBN: (纸本)9781665448086

In basketball, the next motion can be instantaneously determined with an accurate understanding of the surrounding conditions. Therefore, it is necessary to develop the ability to judge a situation accurately and perform appropriate actions. Development of such decision-making ability in individual practice can lead to higher efficiency. The purpose of this study is to construct an environment closely resembling interpersonal practice by arranging players in a virtual space using VR technology. As this device is used for practice, the sense of distance from the VR player is important. Hence, this study measures the error between VR players and users.

关键词： Performance evaluation Space technology Image edge detection Conferences Measurement uncertainty Decision making Life sciences

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Guava Trees Disease Monitoring Using the Integration of Machine Learning and Predictive Analytics 3

Guava Trees Disease Monitoring Using the Integration of Mach...

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3rd Novel Intelligent and Leading Emerging Sciences Conference, NILES 2021

作者： Elsayed, Mahmoud Hassan, Nourhan Maher, Marina Waleed, Nouran Reda, Rehab Eldin, Haitham Sharaf Mostafa, Hassan The American University of Cairo Mechatronics Department Egypt Nile University Giza12677 Egypt Communication Engineering Alexandria University Egypt Biomedical Engineering Cairo University Egypt Tanta University Egypt Cairo University Faculty of Science Biophysics Department Egypt Cairo University Electronics and Electrical Communications Engineering Department Giza Egypt University of Science and technology Nanotechnology and Nanoelectronics Program Zewail City of Science and Technology October Gardens 6th of October Giza12578 Egypt

ISBN: (纸本)9781665421577

The increase in population, food demand, and the pollution levels of the environment are considered major problems of this era. For these reasons, the traditional ways of farming are no longer suitable for early and accurate detection of biotic stress. Recently, precision agriculture has been extensively used as a potential solution for the aforementioned problems using high resolution optical sensors and data analysis methods that are able to cope with the resolution, size and complexity of the signals from these sensors. In this paper, several methods of machine learning have been utilized in order to study pests, their types, population, and agricultural conditions in terms of soil and climate for some crops such as potatoes, guava, and cotton, which are among the main Egyptian crops. In the process of obtaining a suitable estimate of insects population affecting each of the aforementioned crops, a hardware model control, based on the results provided by the predictive analysis, an estimate of the electromagnetic force is applied to the cultivated areas to get rid of the pests as well as giving a background to farmers about the possibility of infecting a crop such as Potato with Late Blight, according to climatic conditions. © 2021 IEEE.

关键词： Model predictive control

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Sentimental Analysis on Social Media Comments with Recurring Models and Pretrained Word Embeddings in Portuguese 22

Sentimental Analysis on Social Media Comments with Recurring...

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Proceedings of the 2022 6th International Conference on Natural Language Processing and Information Retrieval

作者： Cristian Muoz Villalobos Leonardo Mendoza Forero Harold De Mello Cesar Valencia Alvaro Orjuela Ricardo Tanscheit Marco Pacheco Cavalcanti Electircal Engineer (ICA Laboratory) Pontifical Catholic University of Rio de Janeiro (PUC-Rio) Brazil Electircal Engineer Rio de Janeiro State University (UERJ) Brazil Engineering Mechatronics Program Saint Thomas University Colombia Engineer University of the Pacific Per Electircal Engineer Pontifical Catholic University of Rio de Janeiro (PUC-Rio) Brazil

ISBN: (纸本)9781450397629

Natural Language Processing (NLP) techniques are increasingly powerful for interpreting a person’s feelings and reaction to a product or service. Sentiment analysis has become a fundamental tool for this interpretation, and it has studies in languages other than English. This type of application is uncommon and unheard of in Portuguese. This article presents a sentiment analysis classification based on Portuguese social media comments. Representation of word embeddings with both pre-trained Glove and Word2Vec models were generated through a corpus entirely in Portuguese. This article presents a set of results with different models of pre-trained layers and deep learning models exclusive to the Portuguese language on social networks. Two classification models were used and compared: (i) Bidirectional Long Short-Term Memory (BI-LSTM) and (ii) Bidirectional Gated Recurrent Unit (BI-GRU), achieving accuracy results of 99.1

关键词： BI- GRU. BI-LSTM Natural Language Processing Sentiment Analysis in Portuguese

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