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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Theodorakopoulos G. A. Rovithakis Z. Doulgeri IKY Fellowships of Excellence for Postgraduate Studies in Greece - Siemens Program Greek State Scholarships Foundation Dept. of Electrical & Computer Engineering Aristotle University of Thessaloniki Greece

In this work a modification of a Cartesian impedance controller is presented. The proposed controller guarantees compliance of the operated manipulator strictly within preselected spatial limits. Specifically, by introducing a nonlinear stiffness term into the control design, the manipulator is prevented from colliding with an explicitly defined hard boundary, like a human being or a fragile object. When operating in spatial regions sufficiently away from the boundary the manipulator behaves as if it were operated via a linear stiffness impedance controller, thus preserving in these regions its compliance and convergence characteristics. A comparative simulation with a linear stiffness impedance controller is performed to verify and clarify the proposed approach.

关键词： Impedance Manipulator dynamics Robot kinematics Force Aerospace electronics

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Detecting and locating cell phone signals from avalanche victims using unmanned aerial vehicles

Detecting and locating cell phone signals from avalanche vic...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Victor Wolfe William Frobe Vineetha Shrinivasan Tsung-Yen Hsieh Dept. Naval Postgraduate School Electrical and Computer Engineering Monterey CA USA Lieutenant US Navy Program Executive Office C4I San Diego CA USA Univ. of Colorado USA

Scores of avalanche injuries and fatalities occur annually. This research presents an avalanche search and rescue (SAR) proof-of-concept option that utilizes a small unmanned aerial vehicle (UAV) helicopter with a payload capable of detecting and locating a buried victim's cell phone. Cell phones involved in this research were modern-day fourth generation (4G) Long Term Evolution (LTE) devices with an application specifically designed for potential SAR detection. This study focused primarily on radio frequency (RF) propagation modeling through snow and air. The analysis and associated field trials demonstrate that it is feasible to detect these cell phone devices through avalanche debris up to 7 feet deep. Alpine UAS inclement flight demonstrations were also conducted. Although many studies have been published on detecting the position of mobile cellular devices, this is the first of its kind to quantify the detection of a cell phone that is buried under the snow.

关键词： Snow Long Term Evolution Helicopters Streaming media Unmanned aerial vehicles Accuracy Smart phones

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Estimates, trends, and drivers of the global burden of type 2 diabetes attributable to PM_2·5 air pollution, 1990–2019: an analysis of data from the Global Burden of Disease Study 2019

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The Lancet Planetary Health 2022年第7期6卷 e586-e600页

作者： Burkart, Katrin Causey, Kate Cohen, Aaron J Wozniak, Sarah S Salvi, Devashri Digvijay Abbafati, Cristiana Adekanmbi, Victor Adsuar, Jose C Ahmadi, Keivan Alahdab, Fares Al-Aly, Ziyad Alipour, Vahid Alvis-Guzman, Nelson Amegah, Adeladza Kofi Andrei, Catalina Liliana Andrei, Tudorel Ansari, Fereshteh Arabloo, Jalal Aremu, Olatunde Aripov, Timur Babaee, Ebrahim Banach, MacIej Barnett, Anthony Bärnighausen, Till Winfried Bedi, Neeraj Behzadifar, Masoud Béjot, Yannick Bennett, Derrick A Bensenor, Isabela M Bernstein, Robert S Bhattacharyya, Krittika Bijani, Ali Biondi, Antonio Bohlouli, Somayeh Breitner, Susanne Brenner, Hermann Butt, Zahid A Cámera, Luis Alberto Cantu-Brito, Carlos Carvalho, Felix Cerin, Ester Chattu, Vijay Kumar Chauhan, Bal Govind Choi, Jee-Young Jasmine Chu, Dinh-Toi Dai, Xiaochen Dandona, Lalit Dandona, Rakhi Daryani, Ahmad Davletov, Kairat De Courten, Barbora Demeke, Feleke Mekonnen Denova-Gutiérrez, Edgar Dharmaratne, Samath Dhamminda Dhimal, Meghnath Diaz, Daniel Djalalinia, Shirin Duncan, Bruce B El Sayed Zaki, Maysaa Eskandarieh, Sharareh Fareed, Mohammad Farzadfar, Farshad Fattahi, Nazir Fazlzadeh, Mehdi Fernandes, Eduarda Filip, Irina Fischer, Florian Foigt, Nataliya A Freitas, Marisa Ghashghaee, Ahmad Gill, Paramjit Singh Ginawi, Ibrahim Abdelmageed Gopalani, Sameer Vali Guo, Yuming Gupta, Rajat Das Habtewold, Tesfa Dejenie Hamadeh, Randah R Hamidi, Samer Hankey, Graeme J Hasanpoor, Edris Hassen, Hamid Yimam Hay, Simon I Heibati, Behzad Hole, Michael K Hossain, Naznin Househ, Mowafa Irvani, Seyed Sina Naghibi Jaafari, Jalil Jakovljevic, Mihajlo Jha, Ravi Prakash Jonas, Jost B Jozwiak, Jacek Jerzy Kasaeian, Amir Kaydi, Neda Khader, Yousef Saleh Khafaie, Morteza Abdullatif Khan, Ejaz Ahmad Khan, Junaid Khan, Md Nuruzzaman Khatab, Khaled Khater, Amir M Kim, Yun Jin Kimokoti, Ruth W Kisa, Adnan Kivimäki, Mika Knibbs, Luke D Kosen, Soewarta Koul, Parvaiz A Koyanagi, Ai Defo, Barthelemy Kuate Kugbey, Nuworza Lauriola, Paolo Lee, Paul H Leili, Mostafa Lewycka, Sonia Li, Shanshan Lim, Lee-Ling Li Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Division of Plastic and Reconstructive Surgery University of Washington Seattle WA United States Research Insights and Innovation Seattle WA United States Health Effects Institute Boston MA United States School of Public Health Boston University Boston MA United States Department of Juridical and Economic Studies La Sapienza University Rome Italy Department of Population Medicine Cardiff University Cardiff United Kingdom Sport Science Department University of Extremadura Badajoz Spain School of Public Health Imperial College London London United Kingdom Department of Primary Care and Public Health Imperial College London London United Kingdom Mayo Evidence-based Practice Center Mayo Clinic Foundation for Medical Education and Research Rochester MN United States John T. Milliken Department of Internal Medicine Washington University in St. Louis St. Louis MO United States Clinical Epidemiology Center US Department of Veterans Affairs (VA) St Louis MO United States Health Management and Economics Research Center Iran University of Medical Sciences Tehran Iran Department of Health Economics Iran University of Medical Sciences Tehran Iran Preventive Medicine and Public Health Research Center Iran University of Medical Sciences Tehran Iran Pars Advanced and Minimally Invasive Medical Manners Research Center Iran University of Medical Sciences Tehran Iran Department of Community and Family Medicine Iran University of Medical Sciences Tehran Iran Research Group in Hospital Management and Health Policies Universidad de la Costa (University of the Coast) Barranquilla Colombia Research Group in Health Economics University of Cartagena Cartagena Colombia Department of Biomedical Science University of Cape Coast Cape Coast Ghana Cardiology Department Ca

Background: Experimental and epidemiological studies indicate an association between exposure to particulate matter (PM) air pollution and increased risk of type 2 diabetes. In view of the high and increasing prevalence of diabetes, we aimed to quantify the burden of type 2 diabetes attributable to PM_2·5 originating from ambient and household air pollution. Methods: We systematically compiled all relevant cohort and case-control studies assessing the effect of exposure to household and ambient fine particulate matter (PM_2·5) air pollution on type 2 diabetes incidence and mortality. We derived an exposure–response curve from the extracted relative risk estimates using the MR-BRT (meta-regression—Bayesian, regularised, trimmed) tool. The estimated curve was linked to ambient and household PM_2·5 exposures from the Global Burden of Diseases, Injuries, and Risk Factors Study 2019, and estimates of the attributable burden (population attributable fractions and rates per 100 000 population of deaths and disability-adjusted life-years) for 204 countries from 1990 to 2019 were calculated. We also assessed the role of changes in exposure, population size, age, and type 2 diabetes incidence in the observed trend in PM_2·5-attributable type 2 diabetes burden. All estimates are presented with 95% uncertainty intervals. Findings: In 2019, approximately a fifth of the global burden of type 2 diabetes was attributable to PM_2·5 exposure, with an estimated 3·78 (95% uncertainty interval 2·68–4·83) deaths per 100 000 population and 167 (117–223) disability-adjusted life-years (DALYs) per 100 000 population. Approximately 13·4% (9·49–17·5) of deaths and 13·6% (9·73–17·9) of DALYs due to type 2 diabetes were contributed by ambient PM2·5, and 6·50% (4·22–9·53) of deaths and 5·92% (3·81–8·64) of DALYs by household air pollution. High burdens, in terms of numbers as well as rates, were estimated in Asia, sub-Saharan Africa, and South Am

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Battery management system with cell equalizer for multi-cell battery packs

Battery management system with cell equalizer for multi-cell...

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作者： Oriti, Giovanna Julian, Alexander L. Norgaard, Peter Electrical and Computer Engineering Dept. Naval Postgraduate School MontereyCA United States Lieutenant US Navy Program Executive Office C4I San DiegoCA United States

ISBN: (纸本)9781479956982

This paper describes a novel battery management system to accomplish all of the necessary functions to ensure the safe, reliable operation of lithium ion batteries. An interface circuit monitors each battery voltage and temperature. It includes a trickle charger that achieves cell balancing by active instead of passive means. A series loaded resonant converter with isolation, also known as an LLC converter, is connected to each one of the battery cells so that they can be balanced, thus increasing the lifetime and utilization of the battery stack. In this paper the battery equalizer control system is presented as well as experimental measurements on a six cell string. © 2014 IEEE.

关键词： Battery management systems

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A flexible ultrasonic velocity profiler development environment

A flexible ultrasonic velocity profiler development environm...

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IEEE Instrumentation and Measurement Technology Conference

作者： César Yutaka Ofuchi Fabio Rizental Coutinho Raquel dos Santos Rasia Lucia Valeria Ramos de Arruda Flávio Neves Rigoberto Eleazar Melgarejo Morales Graduate School of Electrical Engineering and Computer Science (CPGEI) Federal University of Technology-Paraná (UTFPR) Curitiba Brazil Mechanical & Materials Engineering Postgraduate Program (PPGEM) Federal University of Technology-Paraná (UTFPR) Curitiba Brazil

ISBN: (纸本)9781467363846

Ultrasonic velocity profiler method is now an accepted tool in modern experimental fluid mechanics and fluid engineering. As a relative new technology, different applications and improvements of the technique are being researched over the last years. This paper presents an environment to develop new algorithms to improve the ultrasonic velocity estimation technique. The system uses the LabVIEW modular platform integrated with mathematical script language used in many signal-processing software. The phase-shift algorithm was implemented and tested using the proposed system. The results are validated with standard velocity measurements generated by a rotating cylinder.

关键词： Acoustics Velocity measurement Software Signal processing algorithms Ultrasonic variables measurement Fluids Doppler effect

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Battery Management System with Cell Equalizer for Multi-Cell Battery Packs

Battery Management System with Cell Equalizer for Multi-Cell...

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IEEE Energy Conversion Congress and Exposition

作者： Giovanna Oriti Alexander L. Julian Peter Norgaard Electrical and Computer Engineering Dept. Naval Postgraduate School Monterey CA USA Lieutenant US Navy Program Executive Office C4I San Diego CA USA

ISBN: (纸本)9781479957774

关键词： Batteries Voltage measurement Temperature measurement computer architecture Battery charge measurement Microprocessors Temperature sensors

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Filling the gap between Software Defined Networking and Wireless Mesh Networks

Filling the gap between Software Defined Networking and Wire...

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International Conference on Network and Service Management

作者： Vagner Nascimento Marcelo Moraes Rosivaldo Gomes Billy Pinheiro Antônio Abelém Vinicius C. M. Borges Kleber V. Cardoso Eduardo Cerqueira Program Postgraduate in Electrical Engineering (PPGEE) Federal University of Pará (UFPA) Belém PA Brasil program Postgraduate in Science Computer (PPGCC) Federal University of Pará (UFPA) Belém PA Brasil Faculdade de Computção (FACOMP) Federal University of Pará (UFPA) Belém PA Brasil Institute of Informatics (INF) Federal University of Goiás (UFG) Goiânia GO Brasil

Software Defined Networking (SDN) has emerged as a new paradigm that highly increase the network management flexibility through simple but powerful abstractions. The key idea is decoupling the control plane, which makes the forward decisions, from the data plane, which effectively makes the forward. However, the OpenFlow, the main SDN enabler, is designed mainly by wired networks characteristics. As consequence, Wireless Mesh Networks (WMNs) is not suitable for operating as control plane and many wireless networks features are neglected in the OpenFlow, e.g.: power control and network ID. In addition, there are few effort research to extend SDN to wireless networks and these existing works focus on very specific issues of this integration. In this paper, we propose an architecture to extent the OpenFlow functionalities in order to proper deal with wireless networks, including an approach for transporting the control plane over wireless multihop networks. The extensions include new rules, actions, and commands, which bring the network management flexibility to the wireless context. We validated our proposal by implementing and testing some extensions in a small real world testbed. As a proof of concept, we illustrate the OpenFlow capability of isolation between research and production traffics in a wireless backhaul.

关键词： Ad hoc networks Wireless networks IEEE 802.11 Standards Protocols Software Production

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Minimum-Time Trajectory Planning for Helicopter UAVs using Computational Dynamic Optimization

Minimum-Time Trajectory Planning for Helicopter UAVs using C...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Nathan Xu Wei Kang Guowei Cai Ben M. Chen Summer Intern Program Department of Applied Mathematics Naval Postgraduate School Department of Applied Mathematics Naval Postgraduate School Department of Electrical and Computer Engineering National University of Singapore

ISBN: (纸本)9781467317139

In this paper, we apply pseudospectral optimal control, a computational algorithm of dynamic optimization, to the problem of helicopter UAV for minimum-time trajectory planning in the presence of obstacles. The problem is formulated as a nonlinear optimal control subject to the dynamics and limitations of helicopter UAVs, in which the obstacles are formulated as inequality constraints by using p-norms. The dynamical system is defined by a set of fifteen states nonlinear differential equations developed for HeLion, a helicopter UAV constructed in National University of Singapore (NUS). The problem does not have an analytic solution. We numerically solve the problem using a pseudospectral method. Various terrain scenarios were tested, from a single obstacle to multiple obstacles. We found bifurcation points of minimum-time trajectories near obstacles. The bifurcation points and their relationship with the distance to the obstacle are analyzed.

关键词： Minimum-time control Helicopter UAV Computational optimal control Obstacle avoidance Unmanned Aerial Vehicle Helicopters trajectory planning barriers BIFURCATION nonlinear differential equations inequality constraint drone honey bees

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Minimum time control of helicopter UAVs using computational dynamic optimization

Minimum time control of helicopter UAVs using computational ...

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9th IEEE International Conference on Control and Automation, ICCA 2011

作者： Tang, K. Wang, B. Kang, W. Chen, B. Internship Program Naval Postgraduate School Monterey CA 93943 United States Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Department of Applied Mathematics Naval Postgraduate School Monterey CA 93943 United States

ISBN: (纸本)9781457714757

This paper focuses on the problem of minimum time trajectory planning for helicopter UAVs. It is formulated as a nonlinear optimal control subject to the dynamics and limitations of helicopter UAVs. The dynamical system is defined by a set of fifteen states nonlinear differential equations developed for HeLion, a UAV helicopter constructed in National University of Singapore (NUS). The problem is then solved numerically using pseudospectral method for dynamic optimization. The results show that minimum time trajectories are highly nonlinear that require complicated maneuvering. © 2011 IEEE.

关键词： Nonlinear equations

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Minimum time control of helicopter UAVs using computational dynamic optimization

Minimum time control of helicopter UAVs using computational ...

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International Conference on Control and Automation (ICCA)

作者： K. Tang B. Wang W. Kang B. Chen Internship program Naval Postgraduate School Monterrey CA USA Department of Electrical and Computer Engineering University of Singapore Singapore Department of Applied Mathematics Naval Postgraduate School Monterrey CA USA

关键词： Trajectory Helicopters Mathematical model Approximation methods Planning Aerodynamics Vectors

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