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Multi-class Traffic Sign Recognition System Using One-Stage Detector YOLOv5s 2

Multi-class Traffic Sign Recognition System Using One-Stage ...

2nd IEEE International Conference on Vision Towards Emerging Trends in Communication and Networking Technologies, ViTECoN 2023

作者： Dhyani, Sachin Kumar, Vijay Chitkara University Institute of Engineering and Technology Chitkara University Robotics and Mechatronics Research Lab Punjab 140417 India

ISBN: (纸本)9798350347982

One of the crucial software elements in the upcoming generation of autonomous vehicles is image recognition. Traditional approaches to image recognition using computer vision and machine learning typically have a lengthy response time. Modern artificial neural network-based methods and designs, including the YOLOv5s algorithm, are able to tackle this issue without suffering precision losses. In this study, we demonstrate how to use the most recent YOLOv5s algorithm to identify traffic signs. We showed the reliability of the method by training the network for 4 traffic sign classes (speed limit, traffic light, crosswalks, stop,). © 2023 IEEE.

关键词： Traffic signs

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Investigations on the Design and Simulation of Smart Irrigation Robot for Nurseries 3

Investigations on the Design and Simulation of Smart Irrigat...

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3rd International Conference on Advances in Computing, Communication, Embedded and Secure Systems, ACCESS 2023

作者： Abhiram, B. Jha, Swati Sai Prasad, Y. Yogendra Dhanraj, Joshuva Arockia Ramkumar, V. Hindustan Institute of Technology and Science Centre for Automation & Robotics Department of Mechatronics Engineering Tamil Nadu Chennai India

ISBN: (纸本)9798350346169

The irrigation systems in nurseries can be the cause of various water supply errors- ranging from lack of sufficient water supply to over-watering and imbalance in the water pH levels. Based on the statistics recorded by the department of agriculture and farmers welfare, we have conducted we concluded that the water supply management and plant life maintenance are the major problems. Considering all these real-time errors, we have designed a smart irrigation robot functioning on the inputs from a group of soil moisture sensors which helps eliminate the monotonous task of monitoring and keeping records of the change in soil moisture. © 2023 IEEE.

关键词： Irrigation

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Generalized Dynamics of Non-Grounded Systems with Series Elastic Actuators and Effect of Actuator Base Fixation on Force Control Robustness

Generalized Dynamics of Non-Grounded Systems with Series Ela...

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International Conference on mechatronics (ICM)

作者： Wonhyeok Choi Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798331533892

ISBN: (纸本)9798331533908

This paper proposes a generalized dynamics model for a Non-Grounded System (NGS) mounted with a Reaction Force Sensing Series Elastic Actuator (RFSEA), focusing on scenarios where the actuator's base is unfixed and interacts with the ground. In RFSEA-based force control, the actuator base, which provides the necessary reaction force as dictated by Newton's third law, plays a critical role. This study examines how the interaction between the actuator base and the ground it is attached to influences the response of the series elasticity that generates force in the RFSEA. The investigation involves two steps. First, a generalized dynamics model that considers the dynamics between the actuator base and the ground is derived. Second, the Small Gain Theorem (SGT) is applied to evaluate the robustness of force control under load-side model uncertainties when a Force-based Disturbance Observer (FDOB), originally designed for GS, is adapted to NGS. The analysis reveals that force control utilizing FDOB can become unstable when the actuator base is unfixed, and simulations validate these findings.

关键词： Actuators Analytical models Adaptation models Uncertainty Dynamics Force Elasticity Robustness Force control Load modeling

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Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino

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IFAC-PapersOnLine 2024年第9期58卷 217-222页

作者： Abdelrahman Abdelgawad Tarek Shohdy Ayman Nada Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

A two-wheeled self-balancing robot (TWSBR) is non-linear and unstable system. This study compares the performance of model-based and data-based control strategies for TWSBRs, with an explicit practical educational approach. Model-based control (MBC) algorithms such as Lead-Lag and PID control require a proficient dynamic modeling and mathematical manipulation to drive the linearized equations of motions and develop the appropriate controller. On the other side, data-based control (DBC) methods, like fuzzy control, provide a simpler and quicker approach to designing effective controllers without needing in-depth understanding of the system model. In this paper, the advantages and disadvantages of both MBC and DBC using a TWSBR are illustrated. All controllers were implemented and tested on the OSOYOO self-balancing kit, including an Arduino microcontroller, MPU-6050 sensor, and DC motors. The control law and the user interface are constructed using the LabVIEW-LINX toolkit. A real-time hardware-in-loop experiment validates the results, highlighting controllers that can be implemented on a cost-effective platform.

关键词： Control Education Self-Balancing Robot LabVIEW

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Tendon Routing Optimisation of a Tendon-Driven Gripper to Maximise Force Transmission Efficiency

Tendon Routing Optimisation of a Tendon-Driven Gripper to Ma...

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IEEE-RAS International Conference on Humanoid Robots

作者： Boris Feldbrugge Boi Okken Wesley Roozing Precision Engineering and Robotics and Mechatronics groups University of Twente The Netherlands Robotics and Mechatronics group University of Twente The Netherlands

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

We present a design optimisation method for the routing of tendons in a tendon-driven mechanism with the objective of maximising force transmission efficiency (FTE). We formulate a friction model for the different routing elements, accounting for routing point radii and slipping/rolling contacts. We then construct a numerical design optimisation problem to optimise the design parameters, routing point locations, for a given tendon routing topology. We apply the method to the design of an existing tendon-driven gripper. The results show that frictional losses can be reduced by approximately half compared to the baseline design, and that taking into account the routing point radii is indeed of significant influence.

关键词： Force measurement Torque Pulleys Friction Force Humanoid robots Routing Topology Grippers Tendons

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Comparative Study of Energy Management Techniques for Solar PV-based Microgrid Systems 6

Comparative Study of Energy Management Techniques for Solar ...

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6th Parul International Conference on engineering and Technology, PICET 2024

作者： Kamagaté, Yaya Shah, Heli Amit Sharma, Sspm B. Electrical Engineering Department Parul University Vadodara India Robotics and Automation Engineering Department Parul University Vadodara India Mechatronics Engineering Department Symbiosis University of Applied Sc Indore India

ISBN: (纸本)9798350369748

In recent years, microgrid systems have gained popularity as reliable, efficient, and clean energy sources for local communities. Among these, solar PV systems stand out as a widely used microgrid variant. However, the intermittent nature of solar power necessitates the incorporation of energy storage solutions to ensure a consistent electricity supply. In this context, batteries and supercapacitors emerge as two prominent options for storing energy in solar PV microgrids. This study leads a comprehensive examination and correlation of three distinct solar PV-based microgrid configurations: solar PV system (PVS), solar PV with battery system (PVBS), and solar PV with both battery and supercapacitor system (PVBSS). Employing MATLAB/Simulink, the analysis centers on their technical capabilities, particularly emphasizing energy management. The simulation results demonstrate that incorporating battery storage enhances the performance of the PVS microgrid, ensuring the stability of the DC bus voltage and thus balancing energy production and consumption. Furthermore, the PVBSS configuration exhibits superior performance through its capacity to deliver high power with rapid response times, consequently extending the battery lifespan. This investigation underscores the critical role of energy storage solutions in enhancing solar PV microgrids' effectiveness and overall performance. © 2024 IEEE.

关键词： Battery storage

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A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation 63

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Ali, Ahmed Gabellieri, Chiara Franchi, Antonio Faculty Robotics and Mechatronics Department Enschede7500 AE Netherlands Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy

ISBN: (纸本)9798350316339

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF's, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations. © 2024 IEEE.

关键词： Feedback linearization

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Cost-Effective Pressure Glove to Measure Forces & Orientation from a Chiropractor

Cost-Effective Pressure Glove to Measure Forces & Orientatio...

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2023 IEEE International Opportunity Research Scholars Symposium, ORSS 2023

作者： Butler, Carolyn Shah, Iti Kish, Jacob Salman, Muhammad Kennesaw State University Robotics & Mechatronics United States Kennesaw State University Department of Mechanical Engineering United States

ISBN: (纸本)9798350337006

Currently, there is no affordable, everyday use chiropractic force sensor. Devices that are used to teach chiropractic students, such as activators and drop tables, assist students in learning but do not give adequate feedback. Our design will be implementing the cheapest materials to make the most reliable force sensing glove which chiropractors can use for their daily work needs. Materials needed to complete this project include pressure sensors, electrical wires, resistors, a breadboard, Raspberry Pi Pico W, a laptop with Thonny software installed, and an analog to digital converter. Our design of the chiropractic force sensor glove will help reduce the amount of confusion when determining the correct amount of force to apply to a chiropractor's patient. This research will also help to dramatically reduce any severe pain resulting from misplaced forces and pressure applied to chiropractic patients. © 2023 IEEE.

关键词： Pressure sensors

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Haris, Muhammad Ubaid, Bilal Bibi, Uzma Said, Ameer Us Saqib, Syed Najm Khan, Shahbaz Tufail, Muhammad Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

ISBN: (纸本)9781665464727

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance. © 2023 IEEE.

关键词： Internet of things

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CNN coal and rock recognition method based on hyperspectral data

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International Journal of Coal Science & Technology 2022年第5期9卷 59-70页

作者： Jianjian Yang Boshen Chang Yuchen Zhang Wenjie Luo Shirong Ge Miao Wu School of Mechatronics and Information Engineering China University of Mining and Technology-BeijingBeijing 100083China Key Laboratory of Intelligent Mining and Robotics Ministry of Emergency ManagementBeijingChina

Aiming at the problem of coal gangue identifcation in the current fully mechanized mining face and coal washing,this article proposed a convolution neural network(CNN)coal and rock identifcation method based on hyperspectral ***,coal and rock spectrum data were collected by a near-infrared spectrometer,and then four methods were used to flter 120 sets of collected data:frst-order diferential(FD),second-order diferential(SD),standard normal variable transformation(SNV),and multi-style *** coal and rock refectance spectrum data were pre-processed to enhance the intensity of spectral refectance and absorption characteristics,as well as efectively remove the spectral curve noise generated by instrument performance and environmental factors.A CNN model was constructed,and its advantages and disadvantages were judged based on the accuracy of the three parameter combinations(i.e.,the learning rate,the number of feature extraction layers,and the dropout rate)to generate the best CNN classifer for the hyperspectral data for rock *** experiments show that the recognition accuracy of the one-dimensional CNN model proposed in this paper reaches 94.6%.Verifcation of the advantages and efectiveness of the method were proposed in this article.

关键词： Hyperspectral data Data pre-processing 1D-CNN Coal gangue identifcation

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