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Intelligent Cyber Physical Systems and Internet of Things (ICoICI), International Conference on

作者： Ramkumar S Saravanan R Kanagaraj Venusamy Rani Jabbar N. Jeevitha Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Chennai India EDICT Department Electrical Engineering Program Bahrain polytechnic Isa town Kingdom of Bahrain Department of Electrical and Electronics Engineering Roever Engineering College Perambalur India

ISBN: (数字)9798331540661

ISBN: (纸本)9798331540678

There are many problems faced by people who stand for hours at billing counter after shopping, even though crowds are avoided everywhere, shopping mall billing queue isn't reducing since ages. Since the world relies on automation today, everyone has to automate processes which consumes time, money and efforts wherever possible. The technique related with the use of Raspberry Pi, LCD display and Webcam helps the people to bill the groceries within the shopping cart. It reduces consumption of time and their energy can be conserved which can't happen when they stand in a queue for billing process. User have to scan the object in front of webcam and LCD display allows them to add purchased items along with their price and quantity. They can also remove the product fromthe cart and it will be automatically removed. At the end of process, payment can be made online using a QR code or UPI. The Bill will be generated to their respective mail or it will be sent as SMS. User have to register or Log in when they start shopping. Automatic detection is possible without any inspection behind. The model is much portable and does not face any problem in its operation. When compared with the existing methods the processor, display along with its webcam accuracy is much better, it does not require complete continuous guidance and maintenance upon its usage. The need to push the cart has been eliminated as the cart can move along/follow the user autonomously.

关键词： Deep learning Webcams QR codes Inspection Liquid crystal displays Registers Maintenance Internet of Things Faces Postal services

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Roborueda: Python-Based GUI to Control a Wheelchair and Monitor User Posture

SSRN

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SSRN 2023年

作者： Gonzalez-Cely, Aura Ximena Blanco-Diaz, Cristian Felipe Diaz, Camilo A.R. Bastos-Filho, Teodiano Freire Robotics and Assistive Technology Laboratory Graduate Program in Electrical Engineering Federal University of Espirito Santo Av. Fernando Ferrari 514 Espirito Santo Vitoria29075-910 Brazil Telecommunications Laboratory Graduate Program in Electrical Engineering Federal University of Espirito Santo Av. Fernando Ferrari 514 Espirito Santo Vitoria29075-910 Brazil

The increasing development of Optical Fiber Sensors (OFS) and inertial sensors applied into the health area. The use of neck and/or head motion for people with physical impairments in their limbs allows achieving independence and improve their mobility. This paper addresses a gap based on the development of Human-Machine Interfaces by introducing Roborueda, a robust Graphical User Interface (GUI) designed to facilitate interaction of electric wheelchair users, with a primary focus on enhancing mobility and preventing future illnesses. The main objective of the system is to monitor the body posture and control the wheelchair using neck and head motion, through the GUI. The interface incorporates machine learning and fuzzy logic techniques and a robust communication system using the Python programming language. The GUI was developed using PyQt, and data exchange between Python libraries was facilitated through dataframes and multithreading. Furthermore, the classification model was loaded, while Wi-Fi communication employ sockets and User Datagram Protocol. The user-friendly GUI offers a range of functionalities, including the ability to adjust controllers, and gather system information, among others. The implementation of this interface marks a significant step towards integrating OFS, which is a contribution to the advancement of assistive technologies. To ensure the effectiveness and practicality of Roborueda, future work will focus on validating the system through extensive testing with wheelchair users, thereby obtaining valuable feedback and making further improvements. © 2023, The Authors. All rights reserved.

关键词： Fuzzy logic

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Development of Fish Separator Conveyor based on Fish Identification System 3

Development of Fish Separator Conveyor based on Fish Identif...

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3rd International Conference on Eco Engineering Development, ICEED 2019

作者： Dzulfiqar Agung, Muhammad Rangga Elian, Adrian Adhe Astuti, Winda Puji, Muhammad Nurul Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia

Indonesia as the largest archipelago and maritime country in the world has a very large marine resources. Fish is one of the marine wealthties (marine biota), which have large numbers in Indonesia. Fishermen is an important role in the process of fishing, however fish caught by fishermen are often mixed with other types of fish. Currently, the process of fist separation is done manually, which takes longer time and many error occur due to fatigue. In this work the conveyer separator based on the fish identification system is developed. The fish conveyer separator is designed and developed. The fish identification system is based on Fast Fourier Transform (FTT) technique and Artificial Neural Network (ANN). The system is working properly, since it resulting the training and testing accuracy of 80% and 66%, respectively. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Fast Fourier transforms

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Robust State-Feedback $\mathbf{H}_{\infty}$ Control of Quadrotor

Robust State-Feedback $\mathbf{H}_{\infty}$ Control of Quadr...

引用

International Automatic Control Conference

作者： Sheng-Wen Cheng Hsin-Ai Hung Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Mechanical Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9781665496469

ISBN: (纸本)9781665496476

This paper presents an $\mathbf{H}_{\infty}$ control design for quadrotors to enhance robustness against unmodeled disturbances. In optimal control, the algebraic Riccati equation (ARE) frequently arises in topics like Linear Quadratic Regulator (LQR) or $\mathbf{H}_{\infty}$ control. The $\mathbf{H}_{\infty}$ control minimizes the maximal gain between the disturbance input and the control output, which can be solved by acquiring the solution of ARE while finding the minimal $\mathbf{H}_{\infty}$ norm of the corresponding transfer function. Thus, a simple bisection algorithm is also proposed for computing the stabilizing ARE solution of the $\mathbf{H}_{\infty}$ control, which combines a state-of-the-art algorithm for the ARE called the structure-preserving doubling algorithm (SDA).

关键词： Regulators Heuristic algorithms Simulation Quaternions Riccati equations Optimal control Transfer functions

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Decentralized Leader-Follower Visual Cooperative Package Transportation using Unmanned Aerial Manipulators

Decentralized Leader-Follower Visual Cooperative Package Tra...

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European Control Conference (ECC)

作者： Dimitris Chaikalis Nikolaos Evangeliou Anthony Tzes Farshad Khorrami Electrical & Computer Engineering Department New York University Brooklyn USA Electrical Engineering Program New York University Abu Dhabi United Arab Emirates Center for Artificial Intelligence and Robotics New York University Abu Dhabi United Arab Emirates

This paper is concerned with the problem of cooperative transportation of payloads by teams of unmanned aerial multirotor vehicles equipped with dexterous robotic arms. In order to increase the autonomy of such systems, a leader-follower setting is implemented. The leader UAV dictates the motion and all other follower UAVs attempt to maintain their desired relative pose with respect to the leader. A fiducial marker structure is attached to the leader, which allows all followers to continuously visually track the leader. Each robotic arm is equipped with force-torque sensors at its end-effector for improving the UAVs’ flight stability. Specialized controllers are designed for the aerial manipulator systems, in order to ensure a compliant behavior against forces transmitted through the payload. Simulations are provided using the Gazebo environment in order to validate the proposed control methods.

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Generating Localized Audible Zones Using a Single-Channel Parametric Loudspeaker

arXiv

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arXiv 2025年

作者： Zhuang, Tao Li, Shaozhe Niu, Feng Zhong, Jia-Xin Lu, Jing Key Laboratory of Modern Acoustics Nanjing University Nanjing210093 China NJU-Horizon Intelligent Audio Lab Horizon Robotics Beijing100094 China Division of Mechanics and Acoustics National Institute of Metrology Beijing100029 China Graduate Program in Acoustics The Pennsylvania State University University ParkPA16802 United States

Advanced sound zone control (SZC) techniques typically rely on massive multi-channel loudspeaker arrays to create high-contrast personal sound zones, making single-loudspeaker SZC seem impossible. In this Letter, we challenge this paradigm by introducing the multi-carrier parametric loudspeaker (MCPL), which enables SZC using only a single loudspeaker. In our approach, distinct audio signals are modulated onto separate ultrasonic carrier waves at different frequencies and combined into a single composite signal. This signal is emitted by a single-channel ultrasonic transducer, and through nonlinear demodulation in air, the audio signals interact to virtually form multi-channel outputs. This novel capability allows the application of existing SZC algorithms originally designed for multi-channel loudspeaker arrays. Simulations validate the effectiveness of our proposed single-channel MCPL, demonstrating its potential as a promising alternative to traditional multi-loudspeaker systems for achieving high-contrast SZC. Our work opens new avenues for simplifying SZC systems without compromising performance. © 2025, CC BY.

关键词： Array processing

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Development of Cleaning Module for Wall Climbing Drone with Bio-inspired Watering Mechanism

Development of Cleaning Module for Wall Climbing Drone with ...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Taewan Kim Byeongho Yu Christian Tirtawardhana I Made Aswin Nahrendra Hyun Myung Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea

For many years, there has been significant progress in cleaning facilities in hazardous conditions using autonomous mechanical systems to keep humans away from potential danger. Especially, the cleaning method using a UAV (Unmanned Aerial Vehicle) has attracted much interest in the robotics field due to its high degree of freedom in maneuverability; however, a UAV has a payload limitation. In this paper, we propose a cleaning module for a specific drone platform “CAROS-Q” that can tilt its pose to perch on walls or tilted surfaces. The proposed module includes bio-inspired water flow control mechanism from the peristaltic movement of the Esophagus for improving cleaning performance while minimizing the complexity and weight. By comparing the cleaning performance between the proposed module and dry brush cleaning, it was confirmed that the proposed module outperforms the counterpart for cleaning various contaminants.

关键词： Brushes Surface contamination Ink Glass Autonomous aerial vehicles Cleaning Robots

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License plate recognition system based on principal component analysis and one-against-one multi-class support vector machine 3

License plate recognition system based on principal componen...

引用

3rd International Conference on Eco Engineering Development, ICEED 2019

作者： Kosasih, Kevin Kristofer Astuti, Winda Oey, Endra Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia

The license plate number which identifies the original registered place of the vehicle, as well as the usage of each vehicle which belongs to a private entity, a government vehicle, and a commercial vehicle, is identified in this work. Vehicle plate detection by a camera that mounted on parking gate. Detection process starts with collecting data using the camera. This work consists two important parts, namely image processing and classification system, respectively. In the image processing, the plate image capture by the camera is extracted to the feature space which will use as the input to the classification system. The classification system is then will identify the extracted input to the plat recognition identification. The Fast Fourier Transform (FFT) and Support Vector Machine (SVM) are applied as feature extraction technique and classification methods, respectively. The results of the training and testing phase are 80% and 66%, respectively. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Fast Fourier transforms

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A study on the effects of mixed explicit and implicit communications in human-virtual-agent interactions

arXiv

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arXiv 2024年

作者： Campos, Ana Christina Almada Adorno, Bruno Vilhena Graduate Program in Electrical Engineering Universidade Federal de Minas Gerais Av. Antônio Carlos 6627 MG Belo Horizonte31270-901 Brazil Manchester Centre for Robotics and AI The University of Manchester Oxford Rd ManchesterM13 9PL United Kingdom

Communication between humans and robots (or virtual agents) is essential for interaction and often inspired by human communication, which uses gestures, facial expressions, gaze direction, and other explicit and implicit means. This work presents an interaction experiment where humans and virtual agents interact through explicit (gestures, manual entries using mouse and keyboard, voice, sound, and information on screen) and implicit (gaze direction, location, facial expressions, and raise of eyebrows) communication to evaluate the effect of mixed explicit-implicit communication against purely explicit communication. Results obtained using Bayesian parameter estimation show that the number of errors and task execution time did not significantly change when mixed explicit and implicit communications were used, and neither the perceived efficiency of the interaction. In contrast, acceptance, sociability, and transparency of the virtual agent increased when using mixed communication modalities (88.3%, 92%, and 92.9% of the effect size posterior distribution of each variable, respectively, were above the upper limit of the region of practical equivalence). This suggests that task-related measures, such as time, number of errors, and perceived efficiency of the interaction, have not been influenced by the communication type in our particular experiment. However, the improvement of subjective measures related to the virtual agent, such as acceptance, sociability, and transparency, suggests that humans are more receptive to mixed explicit and implicit communications. Copyright © 2024, The Authors. All rights reserved.

关键词： Chatbots

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ECNNs: Ensemble learning methods for improving planar grasp quality estimation

arXiv

引用

arXiv 2021年

作者： Alladkani, Fadi Akl, James Calli, Berk Robotics Engineering Program Worcester Polytechnic Institute 85 Prescott Street WorcesterMA01605 United States

We present an ensemble learning methodology that combines multiple existing robotic grasp synthesis algorithms and obtain a success rate that is significantly better than the individual algorithms. The methodology treats the grasping algorithms as "experts" providing grasp "opinions". An Ensemble Convolutional Neural Network (ECNN) is trained using a Mixture of Experts (MOE) model that integrates these opinions and determines the final grasping decision. The ECNN introduces minimal computational cost overhead, and the network can virtually run as fast as the slowest expert. We test this architecture using open-source algorithms in the literature by adopting GQCNN 4.0, GGCNN and a custom variation of GGCNN as experts and obtained a 6% increase in the grasp success on the Cornell Dataset compared to the best-performing individual algorithm. The performance of the method is also demonstrated using a Franka Emika Panda arm. © 2021, CC BY.

关键词： Learning systems

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