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RSI/ISM International Conference on Robotics and mechatronics (ICROM)

作者： Amir Jahangard Takaloo Mahdi Aliyari Shoorehdeli Department of Control Engineering Faculty of Electrical Engineering K.N.Toosi University of Technology Tehran Iran Department of Mechatronics Engineering Faculty of Electrical Engineering K.N.Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Cars are heavily used in life, and therefore, the safety of passengers is a priority. Since the invention, the importance of airbags as a safety feature has always been used until today. Research indicates that they help to reduce the risk of severe injuries and fatalities during accidents. Therefore, they must be used in vehicles. This paper classifies car crash types for improved airbag performance as a measure to enhance passenger safety. The research is based on data from the National Highway Traffic Safety Administration (NHTSA) company. The company provides multidimensional acceleration data and makes it available for public investigation on its website. Data will be analyzed and used to categorize of six different types of car accidents: frontal collision, oblique collision, rear collision, pole collision, offset collision, and rollover. The research covers 45 different vehicles including Honda, Toyota, Jeep, Genesis, Lexus, etc. This data makes a classification of the crash types possible and allows for differentiation among the 45 vehicles. We can also classify car types. Comparative analysis will be done based on the performance of machine learning algorithms and the results will be documented. Six machine learning algorithms are being compared, i.e., Decision Tree (DT), Adaboost Classifier, Random Forest (RF) Classifier, Multilayer Perceptron (MLP), Radial Basis Function (RBF), K-Nearest Neighbors (KNN) to find a model to distinguish different kinds of vehicles and different types of car crashes. From the comparison of DT, Adaboost, and RF algorithms with the other three algorithms, we have better accuracy, and we reached a more precise and accurate result of 100%.

关键词： Machine learning algorithms Accuracy Neural networks Vehicle crash testing Nearest neighbor methods Data models Safety Automobiles Random forests Accidents

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A Coordinated Trading Mode of Wind-Thermal-Pumped Storage Units in Electricity Spot Market and Regulation Market 8

A Coordinated Trading Mode of Wind-Thermal-Pumped Storage Un...

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8th Asia Conference on Power and Electrical engineering, ACPEE 2023

作者： Xiong, Xiao Zaihui, Ge Zhiming, Chen Siyang, Sun Wenchuan, Meng CSG Power Generation Company Co.LTD. Department of Power Sources Planning Guangzhou China Shenzhen University College of Mechatronics and Control Engineering Shenzhen China CSG Energy Development Research Institute Co. Ltd. Department of New Energy Guangzhou China

ISBN: (纸本)9798350345520

In the process clean and low-carbon power systems construction, an increasing proportion of wind turbines participate in the power market, but the randomness of its output will bring great market risks. To reduce the risks, wind power, thermal power, pumped storage units, and other regulatory facilities would jointly participate in the power market. How these participants obtain more benefits under coordination has become a research focus. This paper proposes a stochastic optimization model for wind-thermal-pumped storage units cooperatively participate in day-ahead power market and frequency modulation(FM) market. In both markets, these participants are required to declare the next-day generation outputs, bidding prices, and the available generation capacity that can be used for frequency modulation. The model considers the statistical characteristics and correlations of wind power outputs between different periods and proposes a scenario reduction method. In addition, the model also introduces a CVaR risk control method for market electricity price, wind generation output, FM mileage and other uncertainties. In addition, the model also introduces the CVaR risk control method for market electricity price, wind power output, FM mileage and other uncertain factors, and simulates the situation of different participants in the market under different risk appetites. The experimental results show that the stochastic optimal bidding strategy with risk control is effective under uncertain conditions. © 2023 IEEE.

关键词： Power markets

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Gain Scheduling Position control for Fully-Actuated Morphing Multi-Rotor UAVs

Gain Scheduling Position Control for Fully-Actuated Morphing...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Youssef Aboudorra Aaron Saini Antonio Franchi Robotics and Mechatronics Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work presents techniques for scheduling the position controller gains for a class of fully-actuated morphing multi-rotor UAVs that use synchronized tilting to change their actuation capabilities. The feasible set of forces and torques that can be produced by the platform changes with the tilting angle, thus the tracking and disturbance rejection capabilities also change. To exploit the platform limits, two methods are proposed for gain scheduling using a simplified example, then one method is tested in simulation with an omnidirectional morphing multi-rotor (OmniMorph). The simulation results show that the developed techniques achieve consistent position tracking performance along the range of tilting angles when rejecting step disturbance forces of values close to the maximum force capabilities. The proposed methods offer a trade-off between simplicity and accuracy, that could be potentially applied for any multi-rotor with synchronized tilting capabilities. A video summary can be found in: https://***/kH-rrO8gWeU

关键词： Accuracy Processor scheduling Attitude control Simulation Force Rotors Position control

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Analysis of the electrical performance of a layer stackup design for memory socket boards

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IEIE Transactions on Smart Processing and Computing 2021年第1期10卷 61-66页

作者： Yun, Tae-Hyung Kim, Moonjung Department of Mechatronics Engineering Kongju National University Cheonan Korea Republic of Department of Electrical Electronic and Control Engineering Kongju National University Cheonan Korea Republic of Institute of IT Convergence Technology Kongju National University Cheonan Korea Republic of

As the operation speed of semiconductor products increases, a test technique is required to implement a high-speed operation at a low-cost. In this paper, memory socket boards are designed by applying a layer stackup reduction and a low-cost dielectric. In the layer stackup design, the two layers are reduced through arrangement of the power planes and a split design. A low-cost dielectric based on FR4 epoxy was applied in the board. Electrical performance changes on the board were analyzed and compared. Although the insertion loss of the DQ5 line on the board with layer stackup reduction showed almost no difference, the VDDQ-VSS impedance increased in some frequency bands. The timing aperture and power supply noise characteristics remained almost the same, which had no substantial effect on high-speed operation of the board. The insertion loss of the DQ5 line on the board with the low-cost dielectric showed a difference in the high-frequency band, but the VDDQ-VSS impedance improved. The timing aperture characteristics were lower, but the performance under power supply noise improved in the eye-diagram simulation. © 2021 Institute of Electronics and Information Engineers. All rights reserved.

关键词： Costs

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Improved Line-of-Sight Path Following control for Underactuated USVs with Unknown Parameters Using Q-learning

Improved Line-of-Sight Path Following Control for Underactua...

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Industrial Cyber-Physical Systems (ICPS)

作者： Danjie Zhu Ya-Jun Pan Tianye Wang Shiwei Liu Wenwen Pei Department of Mechanical Engineering Advanced Control and Mechatronics Laboratory Dalhousie University Halifax NS Canada Marine Thinking Inc. Halifax NS Canada

ISBN: (数字)9798350363012

ISBN: (纸本)9798350363029

This paper proposed an intelligent path-following control strategy that combines the line-of-sight (LOS) guidance law and Q-learning (QL) for an underactuated unmanned surface vehicle (USV) with unknown model parameters. The improved LOS achieves satisfactory path-following results for USVs with uncertain models, where the embedded QL method learns the vehicle model by the self-regulation of uncertain parameters to accomplish the robustness and adaptation for the path-following. Simulation results in tracking a straight line and a circular path are demonstrated respectively. The environmental effect of wave disturbances is also analyzed, which verifies the effectiveness of the improved LOS method based on QL.

关键词： Adaptation models Q-learning Simulation Computational modeling Line-of-sight propagation Cyber-physical systems Robustness

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Robustness Evaluation of Pre-trained vs. Fine-Tuned Computer Vision Models for Score Detection in Dynamic Sports Environments 14th

Robustness Evaluation of Pre-trained vs. Fine-Tuned Computer...

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14th International Conference on Information Society and Technology, ICIST 2024

作者： Ivačko, Nikola Ćirić, Ivan Dimitrijević, Nikola Mitić, Dimitrije Milošević, Maša Kitić, Ana Krstić, Dušan Department of Mechatronics and Control Faculty of Mechanical Engineering University of Niš Aleksandra Medvedeva 14 Niš18000 Serbia Faculty of Information Technologies Belgrade Metropolitan University Belgrade Serbia Faculty of Electrical Engineering University of Niš Aleksandra Medvedeva 14 Niš18000 Serbia NAIS ROBOTICS D.O.O Aleksandra Medvedeva bb Niš Serbia

ISBN: (纸本)9783031714184

This paper explores the efficacy of two distinct approaches in computer vision, particularly in intelligent sports training systems. Our focus is on the development and comparison of two methodologies for image recognition in a basketball score detection system, named "Koško." The first approach uses a pre-trained model with two combined datasets in the training phase. This method leverages diverse data to enhance the model’s ability to generalize and accurately recognize scores in basketball games. In contrast, the second approach fine-tunes a model initially trained on one dataset with a subsequent second dataset. Rooted in recent transfer learning studies, this method shows that selectively fine-tuning a subset of layers or customizing learning rates can significantly improve robustness to out-of-distribution (OOD) data. By enforcing weight projections, this approach aims to maintain the generalization capabilities of the pre-trained models while adapting to the new dataset. Our research balances precise score detection and pragmatic system development, contributing to intelligent sports training systems. This work highlights the feasibility of combining machine learning and vision-based methodologies to advance sports training systems. Research on basketball score detection using the YOLOv8n model shows the pre-trained model achieved 93.75% accuracy and a 3% false positive rate, outperforming the fine-tuned model’s 88.71% accuracy and 5% false positive rate. By evaluating both networks, this study aims to provide clear strategies for implementing computer vision systems in sports, particularly in the dynamic environment of basketball. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Basketball

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A Hexagonal Grid Cell-inspired Collision Avoidance Motion Planning Algorithm for USVs in a Velocity Domain-based Marine Environment

A Hexagonal Grid Cell-inspired Collision Avoidance Motion Pl...

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OCEANS

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

Optimal motion planning is a challenging problem for unmanned surface vehicle (USV) systems, especially in complex ocean environments, with inevitable dynamic obstacles induced by currents or wind flows. In this work, we propose a new motion planning algorithm for USVs considering flowing obstacles, path distance and time consumption optimization, inspired by neuron structure of entorhinal grid cells in mammals' brains, and how these grid cells learn and build cognitive maps. The proposed collision avoidance motion planning algorithm comprises three key components. First, a hexagonal grid cell-based neural network is designed to provide references of paths with optimal distance for vehicles, where one of the six neurons surrounding the vehicle's current position will be selected due to their residual lengths to the target. Second, a velocity domain that collects the kinematics of environmental flows, dynamic obstacles and the vehicle is constructed. The optimal reciprocal collision avoidance (ORCA) method is then applied to obtain the most efficient collision avoidance velocity vector for the USV, and an adjustment velocity component can be generated to eliminate both flow effects and collisions. The effectiveness of the proposed approach is demonstrated through extensive simulations in 2D conditions.

关键词： Sea surface Heuristic algorithms Simulation Neurons Dynamics Vectors Planning Collision avoidance Vehicle dynamics Optimization

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Vision-Based Dexterous Motion Planning by Dynamic Movement Primitives with Human Hand Demonstration

arXiv

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arXiv 2024年

作者： Chen, Nuo Pan, Ya-Jun The Advanced Control and Mechatronics Lab Department of Mechanical Engineering Dalhousie University HalifaxB3H 4R2 Canada

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous pick- and-place tasks. Most existing works only focus on the position demonstration without considering the orientations. In this paper, by employing a single depth camera, MediaPipe is applied to generate the three-dimensional coordinates of a human hand, thereby comprehensively recording the hand’s motion, encompassing the trajectory of the wrist, orientation of the hand, and the grasp motion. A mean filter is applied during data pre-processing to smooth the raw data. The demonstration is designed to pick up an object at a specific angle, navigate around obstacles in its path and subsequently, deposit it within a sloped container. The robotic system demonstrates its learning capabilities, facilitated by the implementation of Dynamic Movement Primitives, enabling the assimilation of user actions into its trajectories with different start and end points. Experimental studies are carried out to demonstrate the effectiveness of the work. Copyright © 2024, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

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Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Real-Time Implementation of MEKF using VDPL Localization Alg...

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Innovations in Intelligent Systems and Applications Conference

作者： Ozan Vahit Altinpinar Emre Can Contarlı Volkan Sezer Department of Mechatronics Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul TURKEY Department of Control and Automation Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul TURKEY

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases.

关键词： Location awareness Technological innovation Navigation Heuristic algorithms Real-time systems Planning Mobile robots Kalman filters MATLAB Intelligent systems

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A Study on Impact-Aware Aerial Robots Colliding with the Environment at Non-Vanishing Speed

A Study on Impact-Aware Aerial Robots Colliding with the Env...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Gayatri Indukumar Alessandro Saccon Antonio Franchi Chiara Gabellieri Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Enabling aerial robots to handle dynamic contacts happening at non-vanishing speeds can enlarge the range of their applications. In this work, we propose an impactaware strategy to allow aerial multirotor robots to recover from impacts. The method leverages a reactive strategy not requiring low-level changes to the motion controller commonly implemented onboard quadrotors, which might be not viable or not desirable for most users. Extensive simulation tests show that the proposed strategy considerably increases the tolerated velocity at impact in tasks in which the robot either picks an object up or collides against an object to clear its way. Preliminary experimental results using Crazyflie UAVs are also presented.

关键词： Trajectory tracking Dynamics Lead Autonomous aerial vehicles Stability analysis Robustness Computer crashes Trajectory Robots Quadrotors

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