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International Conference on Intelligent Transportation

作者： Elisa Gaetan Laura Giarré Simona Sacone Paolo Falcone Carl-Johan Heiker Engineering Department ‘Enzo Ferrari’ University of Modena and Reggio Emilia Modena Italy Department of Informatics Bioengineering Robotics and Systems Engineering ‘DIBRIS’ University of Genova Italy Department of Electrical Engineering Mechatronics group Chalmers University of Technology Gothenburg Sweden

We address the question of whether opinion dynamics models can be exploited in novel scenarios, such as traffic flow on highway lanes. In this paper, we design a Markovian model and compare its predictions with those obtained from the widely recognized Cell Transmission Model (CTM) for the same traffic scenario. We identify potential challenges that may arise and propose strategies to address them. Furthermore, we present a concise demonstration showcasing the predictive capabilities of our proposed model through a small-scale example.

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Explicit Model Predictive Control for Trajectory Tracking of Autonomous Vehicle

Explicit Model Predictive Control for Trajectory Tracking of...

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2023 China Automation Congress, CAC 2023

作者： Lai, Xiangkang Jiang, Haolong Liu, Qinyao Guo, Qian Wang, Xuchen School of Advanced Technology Xi'an Jiaotong Liverpool University Suzhou China School of Advanced Technology Xi'an Jiaotong Liverpool University Department of Mechatronics and Robotics Suzhou China Institute of Intelligent Manufacturing and Smart Transportation Suzhou City University Suzhou China School of Advanced Technology Xi'an Jiaotong Liverpool University Department of Electrical and Electronic Engineering Suzhou China

ISBN: (纸本)9798350303759

Autonomous vehicle has been attached more and more attention since it is considered as an effective solution to transportation problems. This paper focuses on the trajectory tracking control algorithms for autonomous vehicles. To improve the computational efficiency, a constrained explicit controller with offline optimization and online search is proposed based on the original model predictive control (MPC) algorithm. The joint simulation based on the Simulink and Carsim is designed to evaluate the performance of proposed explicit controller. The results show that compared with the original MPC controller, the explicit controller can significantly reduce optimization time and achieve relatively similar tracking performance. © 2023 IEEE.

关键词： Model predictive control

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Automated Feedback in Software engineering: Enhancing Computational Thinking Process

Automated Feedback in Software Engineering: Enhancing Comput...

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IEEE Southeastcon

作者： Faraz Parsa Amir Ali Amiri Moghadam Turaj Ashuri Department of Computer and Software Engineering Faculty of Artificial Inteligence Karaj Azad University Karaj Iran Department of Robotics and Mechatronics Engineering Southern Polytechnic College of Engineering and Engineering Technology Kennesaw State University Marietta GA USA Southern Polytechnic College of Engineering and Engineering Technology Kennesaw State University Marietta GA USA

Computational thinking is the systematic approach of defining a problem and crafting its solution. It employs computer programming algorithms to address scientific, engineering, and mathematical challenges using programming languages. Feedback plays a pivotal role in the learning journey of computational thinking. It is widely recognized that offering timely feedback to students on their computational endeavors significantly contributes to their achievement and overall satisfaction with the course. This research explores the implementation of an automated feedback system designed to evaluate and offer early feedback on computer engineering projects. The aim is to integrate best practices and software tools related to computational thinking into the thinking and learning processes within an engineering curriculum. Preliminary findings suggest that the automated feedback system enhances students' computational skills and improves their performance in the course. We anticipate that the insights gained from this research will inform the enhancement of curricula and course evaluations across different computational thinking tasks, disciplines, and courses.

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Optimal Stabilization of Periodic Orbits

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IFAC-PapersOnLine 2023年第2期56卷 7509-7515页

作者： Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case of periodic orbit stabilization. Sufficient conditions for the existence of a normally hyperbolic invariant manifold (NHIM) of the Hamiltonian system are derived. It is shown that the optimal control problem has a solution if the related periodic Riccati equation has a unique periodic solution. For the analysis of the stable and unstable manifold a coordinate transformation is used which is moving along the orbit. As an example, an optimal control problem is considered for a spring-mass oscillator system, which should be stabilized at a certain energy level.

关键词： Hamiltonian Dynamics Nonlinear Control Periodic Orbit Optimal Control

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From Learning Agents to Agile Software: Reinforcement Learning's Transformative Role in Requirements engineering

From Learning Agents to Agile Software: Reinforcement Learni...

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IEEE Southeastcon

作者： Faraz Frank Parsa Amir Ali Amiri Moghadam Turaj Ashuri Department of Computer and Software Engineering Faculty of Artificial Inteligence Karaj Azad University Karaj Persian Department of Robotics and Mechatronics Engineering Southern Polytechnic College of Engineering and Engineering Technology Kennesaw State University Marietta GA USA Southern Polytechnic College of Engineering and Engineering Technology Kennesaw State University Marietta GA USA

This paper studies the trans formative role of Reinforcement Learning for Requirements engineering in the context of software development. The integration of Reinforcement Learning, with its adaptive decision-making capabilities, and Requirements engineering, focused on systematic requirement analysis, offers a promising interaction to address challenges in dynamic project environments. The paper discusses the potential benefits, including adaptive decision-making, optimization in uncertainty, and intelligent requirement prioritization. However, challenges such as complexity, interpretability, data availability, resource intensiveness, and ethical concerns are identified. The conclusion highlights the trans formative potential of this integration while emphasizing the importance of addressing challenges through interdisciplinary collaboration and responsible adoption in different environments. The paper serves as a broad study of the intersection of Reinforcement Learning and Requirements engineering, providing insights for practitioners, researchers, and stakeholders in the field of software development.

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A Study on Reduction of AC Copper Loss According to Pole/Slot Combination of EV Traction Motor

A Study on Reduction of AC Copper Loss According to Pole/Slo...

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IEEE Conference on Electromagnetic Field Computation

作者： Jin-Uk Choi Ki-Deok Lee Jae-Kwang Lee Jeong-Jong Lee Myung-Hwan Yoon Dong-Hoon Jeong Ju Lee Intelligent Mechatronics Research Center Korea Electronics Technology Institude Bucheon South Korea Department of Mechanical and Automotive Robotics Halla University Wonju South Korea Department of Electrical Engineering Hanyang University Seoul South Korea

ISBN: (数字)9798350348958

ISBN: (纸本)9798350348965

This paper is about reducing AC copper loss of an EV traction motor with a maximum speed of 21000 rpm. Recently, as a high-power density design method for traction motors for EVs, the advantages of high slot fill factor and short end turns of hairpin windings have emerged. However, when using hairpin windings, AC copper loss increases at higher speeds, greatly reducing efficiency and power density, so measures to reduce this loss are necessary. AC copper loss is largely divided into skin effect, proximity effect, and eddy current loss due to leakage magnetic flux, which all increase in proportion to the frequency of use. In this paper, the characteristics according to pole/slot combination were analyzed by comparing the AC copper loss and output characteristics at the rated and maximum speed operating points of the 8p/48s model and the 6p/36s model.

关键词： Stator cores Magnetic flux density Density measurement Magnetic cores Windings Traction motors Loss measurement

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Automated phenotypic analysis and classification of drug-treated cardiomyocytes via synergized time-lapse holographic imaging and deep learning

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Computer Methods and Programs in Biomedicine 2025年 269卷 108890页

作者： Ahmadzadeh, Ezat Park, Seonghwan Kim, Youhyun Moon, Inkyu Department of Robotics & Mechatronics Engineering Daegu Gyeongbuk Institute of Science & Technology (DGIST) 333 Techno Jungang-daero Hyeonpung-myeon Dalseong-gun Daegu 42988 South Korea

Background and Objective: Predicting cardiovascular risk is critical for the therapy and control of cardiovascular illnesses. This work studies screening the toxicity of three drugs, (E-4031, isoprenaline, and sertindole) with various concentrations using tracking of the single cardiac cell's contractile motion to explore the drug concentration impact on single cell contractile dynamics and automated classification based on cells motion behavior using deep transfer learning and different machine learning based methods. Methods: We developed an integrated platform for automated dynamic analysis and classification of human-induced pluripotent stem cell-derived cardiomyocytes (CM) at the single-cell level that uses a combination of holographic image-based tracking and deep learning. For in-depth investigation and automated classification of CMs, first, we accurately extracted a single CM's dry mass using time-lapse holographic imaging and a deep fully convolutional network. Afterward, we applied the Farneback optical flow method to track the cell's contractile motion frame by frame through the extracted single CMs with single-pixel displacement detection. Following this, a computational algorithm was developed to further characterize the single CM's functional behaviors, and several beating activities–related parameters were calculated. The average result of the population for every measured parameter was compared to the control condition using an unpaired student t-test. Finally, we proposed a fine-tuned deep transfer learning-based model for automated cell classification based on the compound's mode of action from the single-cell motion waveform and compared the result to feature-based single-cell classification using different machine learning approaches. We also provided reliable synchronization analysis of drug-treated CMs owing to cellular analysis at the single-cell level. Results: Cardiomyocytes responded to isoprenaline by speeding up their action potentials,

关键词： Cardiac cell classification Cardiotoxicity screening Deep learning-based cardiomyocytes analysis Precision medicine systems Time-lapse holographic biosensors

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A Robust Control Technique for Pitch Control of an Aeropendulum

A Robust Control Technique for Pitch Control of an Aeropendu...

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robotics, Control and Automation engineering (RCAE), International Conference on

作者： M. Hassan Tanveer Charles Koduru Rupam Gupta Roy Girish V. Lakhekar Cary Chun Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA United States Department of Electronics and Instrumentation Engineering National Institute of Technology Agartala Barjala Jirania Agartala Tripura India Department of Instrumentation Engineering College of Engineering Pune Maharashtra India

Pitch control of an aviation system presents a plethora of control complications, such as nonlinear effects, parameter uncertainties, disturbances, etc. In the face of parametric uncertainties and disturbances, as well as communication limits in an auditory medium, it is difficult to create efficient control algorithms that can accomplish precise path-following tasks and effective resilient control actions. This paper presents the Second Order Sliding Mode Control method for regulating the pitch angle in an aero-pendulum mechatronic system. The fundamental purpose of this study is to develop a reliable controller capable of minimising the system error between the regulated signal and the planned signal that corresponds to the pitch angle of the vehicle. By employing the proposed approach, both the prevalence of chattering and the control efficiency can be greatly improved. A comparison is given between the proposed model and the classical technique now in use, such as the classical Sliding Mode Controller.

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

Semantic Segmentation in Unmanned Aerial Vehicle Surveillanc...

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Advancements in Computing (ICAC), International Conference on

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

ISBN: (数字)9798331517878

ISBN: (纸本)9798331517885

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 (<100 m) UAV RGB image. It suggested that an innovative mathematical model be used to successfully reduce GPS inaccuracies, which are known to impact the precision of tree species identification. The proposed system demonstrated an overall accuracy of 89.81 (±1.45) %. Furthermore, the mathematical model exhibits the potential to significantly reduce GPS inaccuracies, leading to enhanced precision in tree species identification.

关键词： Accuracy Semantic segmentation Surveillance Green products Urban areas Vegetation mapping Vegetation Autonomous aerial vehicles Mathematical models Global Positioning System

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Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV

arXiv

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arXiv 2023年

作者： Aboudorra, Youssef Gabellieri, Chiara Brantjes, Ralph Sablé, Quentin Franchi, Antonio Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

This paper introduces for the first time the design, modelling, and control of a novel morphing multirotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers' mutual aerodynamic interference. © 2023, CC BY.

关键词： Maneuverability

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