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2024 IEEE International Conference on Advanced Telecommunication and Networking Technologies, ATNT 2024

作者： Mirdanies, Midriem Saputra, Roni Permana Yazid, Edwar Rashid, Rozeha A. Telecommunication Software and Systems Research Group Faculty of Electrical Engineering Johor Johor Bahru Malaysia Research Center for Smart Mechatronics Bandung Indonesia

ISBN: (纸本)9798350353501

This paper describes the implementation of a learning-based lane detection algorithm on an autonomous mobile robot. More specifically, it explores the implementation of the Ultra Fast Lane Detection algorithm for real-time application on the SEATER (Single-passenger Electric Autonomous Transporter) prototype using a camera, with an emphasis on optimizing its performance on a Jetson Nano platform. Multi-core processing on the CPU and GPU has been implemented in this paper to optimize the application program and avoid delays or buffering. Preliminary experiments have been conducted to evaluate the algorithm's performance in terms of data processing speed and accuracy using two datasets: a public dataset for the outdoor environment and another dataset collected from the indoor area of the Workshop Building at BRIN Bandung. The experimental results show that after conversion to TensorRT, the algorithm achieves significantly improved performance on the Jetson Nano platform compared to the ONNX model, with processing speeds of approximately 101 ms using CULane and 105 ms using TuSimple-about 22 times faster than the previous model. While the algorithm demonstrates good accuracy on the public outdoor dataset, its performance falls short on the indoor dataset. Future work should focus on transfer learning and fine-tuning to improve indoor lane detection accuracy. © 2024 IEEE.

关键词： Mobile robots

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Low-Computational-Load Real-time Path Planning and Trajectory Control based on Artificial Potential Fields 1

Low-Computational-Load Real-time Path Planning and Trajector...

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1st IEEE Colombian Caribbean Conference, C3 2023

作者： Soza Mamani, Kevin Marlon Saavedra Alcoba, Marcelo Universidad la Salle Department of Systems Engineering Bolivia Universidad Católica Boliviana Department of Mechatronics Engineering San Pablo Bolivia

ISBN: (纸本)9798350341799

The presented project shows the theoretical development, design and subsequent implementation of a low-computational-load path planning system and the corresponding movement control for differential type robots. The model contemplates the use of Artificial Potential Fields for both aspects, control and planning. The theoretical development is based on the combination of the Local Minimum Method with a kinematic motion control model. The model simulations are performed in a Python programming environment (for the generation of the optimal path based on image processing) and in Matlab (for initial trajectory tracking simulation). The subsequent implementation is carried out by means of the GLADIUS ME32A robot in a controlled environment. Likewise, the system is powered by peripheral artificial vision and Wi-Fi communication. © 2023 IEEE.

关键词： Mobile robots

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Strengthening Active Learning with a Reinforcement Approach in engineering Education 65

Strengthening Active Learning with a Reinforcement Approach ...

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65th IEEE Annual International Scientific Conference on Power and Electrical engineering of Riga Technical University, RTUCON 2024

作者： Vodovozov, Valery Raud, Zoja Petlenkov, Eduard Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia Tallinn University of Technology Department of Computer Systems Tallinn Estonia

ISBN: (纸本)9798350365771

Nowadays, the best methods of training specialists who are able to identify new challenges, make original decisions, and explore complex issues are associated with active learning. However, it is appears that the development of new values, proclaimed as the purpose of engineering education, is not so much the goal of the learners themselves as of the educators responsible for developing curricula and the academic environment. As for students, they perceive active learning as a variety of ways to achieve their own, narrower and more specific goals, namely the successful completion of the studied disciplines. In this context, the target of the current research is to propose and substantiate a reinforcement system aimed at attracting and supporting the interest of university students in active learning based on a set of updated methodological tools. The paper demonstrates how active learning is being transformed into reinforcement learning, and supports such an observation with examples from various educational activities, including lectures, quizzes, exercises, presentations, and laboratory works. It is expected that the proposed reinforcement approach will be in need of learners, faculty and industry in the near future ahead of the big challenges facing the global educational system. © 2024 IEEE.

关键词： Federated learning

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Achievement of Optimum Power Transfer in Radio-Frequency Front-End systems Through the Utilization of a Pattern Search-Based Impedance Matching Technique 1

Achievement of Optimum Power Transfer in Radio-Frequency Fro...

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1st International Conference on Innovative engineering Sciences and Technological Research, ICIESTR 2024

作者： Balami, Ishaku T. Okereke, Okpo U. Anene, Ejike C. Omizegba, Elijah E. Aliyu, Hassan Garba, Ahmad I. Abubakar Tafawa Balewa University Dept. of Electrical/Electronic Engineering Bauchi Nigeria Abubakar Tafawa Balewa University Dept. of Mechatronics and Systems Engineering Bauchi Nigeria

ISBN: (纸本)9798350348637

The paper proposes a practical method for tuning LC impedance matching networks in Wireless Power Transfer, achieving reliable convergence without complex mathematical modeling. Validation shows effectiveness with less than 0.2% antenna mismatch error, but further investigation is required for design considerations, by designing the matching network to be resilient against variations in load impedance, ambient conditions, and other external factors can enhance its reliability and stability. The focus is on optimizing lumped matching for Microstrip Patch Antennas (MPAs) to enhance performance, broaden bandwidth, and improve impedance matching, aiding researchers and engineers in overcoming design challenges and developing reliable antenna systems. A comparative analysis of 2-Elements Array antenna designs in a -10 dB signal scenario demonstrates that the optimal design strategy yields superior improvements in bandwidth and resonance frequencies. The classical design exhibited limited performance with zero bandwidth at 0.93 GHz (-7.5 dB), while the optimal design significantly extended the bandwidth to 40 MHz at 0.92 GHz (-25.7 dB). The classical design displayed a 30 MHz bandwidth at 1.56 GHz (-23.3 dB), while the optimal design maintained a 30 MHz bandwidth at 1.55 GHz (-24.7 dB). The results demonstrate consistent performance across a broad frequency spectrum ranging from 0.9 to 2.45 GHz. To confirm the validity of these findings, simulations were performed on the impedance matching circuit using predicted and calculated tuning parameters. The results validate that the antenna's resonance frequency, reflection coefficients, and operational 10-dB bandwidth demonstrate similar performance. The proposed shallow learning model, which is characterized by low complexity, showcases rapid prediction capabilities, making it well-suited for real-time applications. © 2024 IEEE.

关键词： Optimal systems

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A mixed-coordination electron trapping-enabled high-precision touch-sensitive screen for wearable devices

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Bio-Design and Manufacturing 2024年第4期7卷 413-427页

作者： Xi Zhang Junchi Ma Hualin Deng Jinming Zhong Kaichen Xu Qiang Wu Bo Wen Dongfeng Diao Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310058China Shenzhen University General Hospital Shenzhen 518055China Research Center of Medical Plasma Technology Shenzhen UniversityShenzhen 518060China

Touch-sensitive screens are crucial components of wearable *** such as reduced graphene oxide(rGO),carbon nanotubes(CNTs),and graphene offer promising solutions for flexible touch-sensitive ***,when stacked with flexible substrates to form multilayered capacitive touching sensors,these materials often suffer from substrate delamination in response to deformation;this is due to the materials having different Young’s modulus *** results in failure to offer accurate touch screen *** this work,we demonstrate an induced charge-based mutual capacitive touching sensor capable of high-precision touch *** is enabled by electron trapping and polarization effects related to mixed-coordinated bonding between copper nanoparticles and vertically grown graphene ***,we used an electron cyclotron resonance system to directly fabricate graphene-metal nanofilms(GMNFs)using carbon and copper,which are firmly adhered to flexible *** being subjected to 3000 bending actions,we observed almost no change in touch *** screen interaction system,which has a signal-to-noise ratio of 41.16 dB and resolution of 650 dpi,was tested using a handwritten Chinese character recognition trial and achieved an accuracy of 94.82%.Taken together,these results show the promise of touch-sensitive screens that use directly fabricated GMNFs for wearable devices.

关键词： Flexible touch-sensitive screen Graphene-metal nanofilms Mixed coordination Wearable device

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Machine Learning Based Multiple Impedance Control of a Space Free-Flying Robot 12

Machine Learning Based Multiple Impedance Control of a Space...

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12th RSI International Conference on Robotics and mechatronics, ICRoM 2024

作者： Safdari, Amirhossein Zarafshan, Payam Alipour, Khalil Tarvirdizadeh, Bahram Fang, Gu School of Intelligent Systems Engineering College of Interdisciplinary Science and Technology University of Tehran Department of Mechatronics Engineering Tehran Iran School of Engineering Design and Built Environment Western Sydney University Sydney Australia

ISBN: (纸本)9798331529734

This study investigates the application of Machine Learning (ML) to reduce the inherent computational burden in Multiple Impedance Control (MIC) for robotic systems. Impedance Control (IC) is a powerful method for robots to interact with their environment by simultaneously controlling position and force. However, the increasing complexity of control methods such as MIC requires more and more complex computations, which can lead to problems such as increased response time and reduced efficiency in the control system, making implementation on the controller impractical. To address this challenge, this paper proposes a new ML-based method called ML-MIC. This method aims to reduce the computational complexity associated with MIC using ML techniques, thereby improving the efficiency and speed of robotic control systems. The development of ML-MIC not only leads to improved control system performance but also enables more effective implementation of robotic and mechatronic systems. © 2024 IEEE.

关键词： Robot learning

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Experimental Study on Heat Storage Properties Comparison of Paraffin/Metal Foams Phase Change Material Composites

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Journal of Thermal Science 2024年第2期33卷 469-478页

作者： Waqar AHMED Abid HUSSAIN Hanzla SHAHID Imran ALI Hafiz Muhammad ALI Department of Mechanical Engineering University of Engineering and TechnologyTaxila47080Pakistan Department of Mechanical Engineering Institute of Space TechnologyIslamabadPakistan Department of Mechanical Mechatronics and Manufacturing EngineeringUniversity of Engineering and Technology LahoreFaisalabad CampusPunjabPakistan Mechanical Engineering Department King Fahd University of Petroleum and MineralsDhahran31261Saudi Arabia Interdisciplinary Research Center for Renewable Energy and Power Systems(IRC-REPS) King Fahd University of Petroleum and MineralsDhahran31261Saudi Arabia

Heat storage properties of phase change materials(PCMs) are essential characteristics that perform a key role in thermal heat energy storage *** thermal properties of PCMs can be improved by developing metal foam/PCM *** addition of metal foam in PCMs has a significant effect on the thermal characteristics of *** this paper,the heat storage properties of two different metal foam/PCM composites were experimentally *** behavior of paraffin in metal foam(copper and iron-nickel)/paraffin composites concerning pure paraffin at a constant heat flux of 1000 W/m^(2) in three directions simultaneously(x,y,and z) was *** was infiltrated into copper and iron-nickel foams to develop composite materials which resulted in enhancing the thermal conductivity of the paraffin.A comparative analysis is made on the heat storage properties of paraffin in copper and iron-nickel foams/paraffin *** temperature distribution during the phase transition process is experimentally *** comparison indicates that temperature uniformity in copper foam/paraffin composite is better than in iron-nickel foam/paraffin composite and pure paraffin at the same heat *** results show that at heat flux of 1000 W/m^(2),the heat storage time for copper foam/paraffin composite is 20.63% of that of iron-nickel foam/paraffin composite.

关键词： heat storage capacity paraffin/metal foam composite temperature uniformity heat storage rate phase transition process

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Robust Car-Following Control of Connected and Autonomous Vehicles: A Stochastic Model Predictive Control Approach

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Zhang, Peiyu Tian, Daxin Zhou, Jianshan Chang, Mai Duan, Xuting Zhao, Dezong Cao, Dongpu Leung, Vicor C.M. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China James Watt School of Engineering University of Glasgow Glasgow U.K Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Computer Science and Software Engineering Shenzhen University Shenzhen China

Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive Control (SMPC) for a vehicle platoon system to enhance the robustness and safety of the vehicles in uncertain traffic environments. In particular, considering the similarity between the acceleration or deceleration behaviour of neighbouring vehicles and the spring-scale properties, we use a two-mass spring system for the first time to construct an uncertain dynamic model of a formation system. In the presence of uncertain perturbations with known distributional attributes (expectation, variance), we propose an objective function in the form of expectation along with probabilistic chance constraints. Subsequently, a state feedback control mechanism is devised accordingly. Under the cumulative probability distribution function of stochastic perturbations, we theoretically derive a computationally tractable equivalent of the SMPC model. Finally, simulation experiments are designed to validate the control performance of the SMPC platoon controllers, along with an analysis of the stability performance under varying probabilities. The experimental findings demonstrate that the model can be efficiently solved in real-time with appropriately chosen prediction horizon lengths, ensuring robust and safe longitudinal vehicle formation control. IEEE

关键词： Random processes

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Fast Replanning Slosh-Free Trajectory for Mobile Manipulation Using Model Predictive Control

Fast Replanning Slosh-Free Trajectory for Mobile Manipulatio...

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2024 International Conference on Advanced Robotics and Intelligent systems, ARIS 2024

作者： Chen, Fang-Wei Lian, Feng-Li National Taiwan University Department of Electrical Engineering Taipei Taiwan Industrial Technology Research Institute Mechanical and Mechatronics Systems Lab. Hsinchu Taiwan

ISBN: (纸本)9798350362572

In this paper, a model predictive control (MPC) framework is proposed to deal with slosh-free liquid transportation task with a mobile manipulator (MM). Two variations of slosh-free trajectroy using MPC with a spherical pendulum model are presented, which are the feedforward and feedback method respectively. The simulation experiments were conducted using a MM combined with a tracked mobile base and a 6-DoF robotic manipulator. The simulated slosh suppression results showed the feedback version of the proposed method goes beyond the existing Trajectory Optimization (TO) based approach by 44% reduction in Root Mean Square Error (RMSE), providing a fast re-planning solution for generating a suitable slosh-free motion reference trajectory for a whole-body controlled MM. © 2024 IEEE.

关键词： Predictive control systems

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Robotic Ultrasonic Forging Technology Applied to Additive Manufacturing

Robotic Ultrasonic Forging Technology Applied to Additive Ma...

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2024 International Conference on Advanced Robotics and Intelligent systems, ARIS 2024

作者： Hsiao, Chin-Chi Hsu, Sheng-Chieh Lin, Su-Jhen Wu, Chien-Yu Huang, Yun-Chi Industrial Technology Research Institute Mechanical and Mechatronics Systems Research Laboratories Taiwan Power Mechanical Engineering National Tsing Hua University Hsinchu Taiwan

ISBN: (纸本)9798350362572

The global aerospace industry MRO (maintenance repair overhaul) market size is expected to reach more than 130 billion US dollars in 2032, and robots will play a very important role. Combining robots with additive manufacturing technology to produce large aerospace workpieces can reduce costs. There are already many related research and production examples, such as the manufacturing of rocket barrels. The existing technology cannot avoid the subsequent processing process (grinding), resulting in the manufacturing cost and manufacturing time being unable to be further reduced and shortened. This study introduces a novel method in which robots combine ultrasonic forging and additive manufacturing technology to achieve simultaneous additive manufacturing and shaping of the workpiece appearance. The goal is to meet the required surface roughness specifications of the workpiece and even improve the mechanical properties. © 2024 IEEE.

关键词： Aerospace industry

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