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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Lu, Zhenyu Yue, Tianqi Zhao, Zhou Si, Weiyong Wang, Ning Yang, Chenguang University of the West of England Bristol Robotics Laboratory Bristol United Kingdom University of Bristol Department of Engineering Mathematics Bristol United Kingdom School of Computer Science Central China Normal University Wuhan China

ISBN: (纸本)9798350331820

Tactile sensors can be used for motion detection and object perception in robot manipulation. The contact detection within the camera's visual inspection area has been well-developed, but perception outside the field of view of the camera is overlooked. In this paper, we present a new tendon-linked tactile sensor, MechTac, to achieve perceptions inside and outside the field of view. The MechTac is an evolution of the typical TacTip sensor with the following two advantages. 1) The ability to provide perception outside the field of view. This is achieved by using a network of braided tendons to transfer deformation from the blind perception regions (TacSide) to the visual areas (TacTip). 2) The tactility of the TacSide and TacTip is reflected by the movements of multiple papillae pins and visible markers on the pin tips on the inner surface of the TacTip. The pins and markers are differentially sensitive to various touch features, which is similar to the differentiated perceptual ability of humans. TacTip is more sensitive to small touches, corresponding to the fingertip, while the TacSide is less sensitive but has a larger perceptual area, corresponding to the middle part of the finger. Moreover, we propose a new deep learning method to decompose the mixed information affected by the TacSide and the TacTip. A modified DenseNet121 was specifically designed for object perception at the TacTip and localization at the TacSide. The experimental results show that prediction accuracy reaches about 98% for object perception or localization and over 99% for the case requiring two functions. © 2023 IEEE.

关键词： Cameras

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Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification

arXiv

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arXiv 2025年

作者： Zhou, Haoying Yang, Hao Deguet, Anton Fichera, Loris Wu, Jie Ying Kazanzides, Peter Department of Robotics Engineering Worcester Polytechnic Institute MA United States Laboratory for Computational Sensing and Robotics JHU MD United States Department of Computer Science Vanderbilt University TN United States Department of Computer Science Johns Hopkins University MD United States

The da Vinci Research Kit (dVRK, also known as dVRK Classic) is anopen-source teleoperated surgical robotic system whose hardware is obtainedfrom the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA,USA). The dVRK has greatly facilitated research in robot-assisted surgery overthe past decade and helped researchers address multiple major challenges inthis domain. Recently, the dVRK-Si system, a new version of the dVRK which usesmechanical components from the da Vinci Si Surgical System, became available tothe community. The major difference between the first generation da Vinci andthe da Vinci Si is in the structural upgrade of the Patient Side Manipulator(PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer beignored as in the dVRK Classic. The high gravity offset may lead to relativelylow control accuracy and longer response time. In addition, althoughsubstantial progress has been made in addressing the dynamic modelidentification problem for the dVRK Classic, further research is required onmodel-based control for the dVRK-Si, due to differences in mechanicalcomponents and the demand for enhanced control performance. To address theseproblems, in this work, we present (1) a novel full kinematic model of thedVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic modelidentification. © 2025, CC BY.

关键词： Surgical equipment

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Automation Lamp Healing Application based on Face Expression Identification System using Convolution Neural Network (CNN)

Automation Lamp Healing Application based on Face Expression...

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International Conference on Electrical engineering and Informatics, ICEEI

作者： Devin Onil Saduki Simangunsong Mahesh Muhammad Nurul Puji Winda Astuti Computer Engineering Department Automotive and Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

The disruption of routines, education, recreation, as well as concerns about family income and health, has left many young people feeling fearful, angry, and worried about their future. In this system, a smart system will be developed that can capture, process, and interpret facial expressions so that a person's emotions can be easily and accurately identified, which is one of the best solutions. The system will use artificial intelligence that has been trained beforehand using suitable datasets. In the processed of developing the system, Face image with the size of 48 x 48 x 1 became the input of the system, processes by Convolution layer using Relu activation function. The activation function used in the output layer is softmax because it is suitable for more than 2 classifications. by applying CNN based on Adam optimization which have result on 98.96% and 70%, for training and testing accuracy, respectively. Furthermore, the system accurately turn-on the healing lamp based on the emotion identified.

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Analyze and Predict Car Accidents Using Different Machine Learning Algorithms

Analyze and Predict Car Accidents Using Different Machine Le...

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International Conference on Information Management and Technology (ICIMTech)

作者： Farrell Putra Harimanto Chris Andrew Henry William Muhammad Zacky Asy'ari Samuel Albert Artanto Muhammad Nurul Puji Computer Engineering Department Automotive & Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

Traffic accidents can occur from various factors, ranging from the driver themselves to problems with the vehicle. Road and traffic accidents are the most significant factor of fatalities in the world. Most of the causes of accidents are the drivers themselves. Poor physical and mental conditions can significantly impact how to drive. The driving experience is also important; the longer the driver has been driving, the more professional he will be, and vice versa. Smart City solutions can predict the severity of accidents and give information to the authorities in order to reduce the number of fatalities. This paper investigates the factors that may lead to an accident on the road. By looking at data collected from traffic-related accidents and then visualizing it to make it easy to analyze; then, from this data, we will predict the causes of traffic accidents so they can be avoided. The best algorithm based on accuracy, MAE and RMSE is Random Forest Classifier with 0.8461, 0.1663 and 0.4376, respectively.

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Theoretical and Computational Investigation on Aerospike Nozzle Equipped with Exhaust Plumes for Supersonic Flow Regimes 1

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International Conference on Mechanical engineering, INCOME 2023

作者： Bindal, Rohi Kattyayan, Shivansh Sonawane, Chandrakant R. Dhanwani, Payal Thombre, Simran Joshi, Vedant Mishra, Ankit Kumar Department of Computer Science Engineering Symbiosis Institute of Technology Maharashtra Pune India Department of Mechanical Engineering Symbiosis Institute of Technology Maharashtra Pune India Department of Aeronautical Engineering Bhagwan Arihant Institute of Technology Gujarat Surat India Department of Aerospace Engineering Sastra University Tamil Nadu Thanjavur India Department of Robotics and Automation Symbiosis Institute of Technology Maharashtra Pune India Department of Research and Development ASTROEX RESEARCH ASSOCIATION Uttar Pradesh Deoria India

ISBN: (数字)9789819738748

ISBN: (纸本)9789819738731

Aerospike nozzles are widely used in aerospace applications due to their high performance, low cost, and low maintenance. They have been widely used to improve the performance of aerospike engines. This paper presents a computational and numerical analysis of the flow behavior of an aerospike nozzles equipped with exhaust plumes under different operating conditions, contributing to the better study and understanding of fluid dynamics for the aerospike nozzles in the field of aerospace engineering. The study uses a three-dimensional, axisymmetric model to simulate the flow within the nozzle, and the results are later used in order to generate better contours and performance. An iterative test has been carried out which in turn used for optimization loop which involves changes in contour shape, spike height, or spike angle to achieve better flow expansion and reduce pressure losses. The paper also discusses the potential future research directions, such as investigating unsteady flow phenomena or exploring advanced turbulence models for more accurate predictions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Aerospace applications

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Towards experimental insight into magnetic flux distribution within the air gap of permanent magnet synchronous drive

Towards experimental insight into magnetic flux distribution...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Hubert Milanowski Adam Krzysztof Piłat Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This report explores the experimental identification of magnetic flux density within the motor air gap, focusing on the development of a robot-based approach to automate the scanning procedure. Emphasis is placed on analyzing the distribution of magnetic flux within the motor’s spatial air gap, as well as the amplification of harmonics resulting from changes in air gap orientation. Drawing upon experimental findings, a model is proposed to illustrate the three-dimensional distribution of magnetic flux within the gap.

关键词： Solid modeling Magnetic flux density Automation Atmospheric modeling Air gaps Rotors Drives

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An Energy-Efficient Mobile Agent-Based Data Aggregation Scheme for Wireless Body Area Networks

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computers, Materials & Continua 2022年第3期70卷 5929-5948页

作者： Gulzar Mehmood Muhammad Zahid Khan Muhammad Fayaz Mohammad Faisal Haseeb Ur Rahman Jeonghwan Gwak Department of Computer Science&Information Technology University of MalakandChakdara Dir Lower23021Pakistan Department of Computer Science University of Central AsiaNarynKyrgyzstan Department of Software Korea National University of TransportationChungju27469Korea Department of Biomedical Engineering Korea National University of TransportationChungju27469Korea Department of AI Robotics Engineering Korea National University of TransportationChungju27469Korea Department of IT and Energy Convergence(BK21 FOUR) Korea National University of TransportationChungju27469Korea

Due to the advancement in wireless technology and miniaturization,Wireless Body Area Networks(WBANs)have gained enormous popularity,having various applications,especially in the healthcare *** are intrinsically resource-constrained;therefore,they have specific design and development *** such highly desirable requirement is an energy-efficient and reliable Data Aggregation(DA)mechanism for *** efficient and reliableDAmay ultimately push the network to operate without much human intervention and further extend the network *** conventional client-serverDAparadigm becomes unsuitable and inefficient for WBANs when a large amount of data is generated in the ***,in most of the healthcare applications(patient’s critical conditions),it is highly important and required to send data as soon as possible;therefore,reliable data aggregation in WBANs is of great *** tackle the shortcomings of the client-serverDAparadigm,theMobile Agent-Basedmechanismproved to be a more workable *** aMobile Agent-Based mechanism,a taskspecific mobile agent(code)traverses to the intended sources to gather *** agents travel on a predefined path called itinerary;however,planning a suitable and reliable itinerary for a mobile agent is also a challenging issue *** paper presents a new Mobile Agent-Based DA scheme for WBANs,which is energy-efficient and ***,in the proposed scheme,the network is divided into clusters,and cluster-heads are ***,a mobile agent is generated from the base station to collect the required data from cluster *** the case,if any fault occurs in the existing itinerary,an alternate itinerary is planned in real-time without compromising the network *** our simulation-based validation,we have found that the proposed system delivers significantly improved fault-tolerance and reliability with energy-efficiency and extended network lifetime in WBANs.

关键词： WBANs mobile-agent data aggregation reliability

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In situ Observation of Lithium Stripping and Plating Process in an Open-cell All-solid-state Lithium Metal Battery

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Microscopy and microanalysis : the official journal of Microscopy Society of America, Microbeam Analysis Society, Microscopical Society of Canada 2023年第1期29卷 1287-1288页

作者： Wu, C. Zhao, L. Ai, Q. Risal, S. Lou, J. Yao, Y. Fan, Zheng Materials Science and Engineering Program and Texas Center for Superconductivity at the University of Houston University of Houston Houston TX United States Department of Electrical and Computer Engineering University of Houston Houston TX United States Department of Materials Science and Nano Engineering Rice University Houston TX United States Department of Engineering Technology University of Houston Houston TX United States

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QoE Comparison between Multi-User OFDMA and Reliable Groupcast for Wireless LAN Audiovisual Transmission

QoE Comparison between Multi-User OFDMA and Reliable Groupca...

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IEEE Region 10 Symposium

作者： Daiki Deguchi Toshiro Nunome Department of Engineering Computer Science Program Graduate School of Engineering Nagoya Institute of Technology Nagoya Japan

ISBN: (数字)9798350364866

ISBN: (纸本)9798350364873

This paper compares video and audio QoE of OFDMA multi-user transmission and reliable groupcast over wireless LAN. We assume video and audio transmission to several terminals simultaneously. As a reliable groupcast method, we employ Unsolicited Retry, a technique of IEEE 802.11aa GroupCast with Retries. We utilize IEEE 802.11ax for OFDMA transmission. We evaluate application-level QoS by computer simulation. We then assess QoE through a subjective experiment with video and audio streams generated by the output timing obtained from the simulation. We notice that each method has a situation to be applied appropriately.

关键词： Degradation Wireless LAN Receivers Quality of service Streaming media Media Timing Reliability Quality of experience Streams

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Mobile Based Brand and Car Type Detection Using Convolutional Neural Network 8

Mobile Based Brand and Car Type Detection Using Convolutiona...

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8th International Conference on computer science and Computational Intelligence, ICCSCI 2023

作者： Ramadhan, Cahaya Saputra, Hasta Ragil Dewi, Ratna Sari Suharjito Computer Science Department BINUS Online Learning Bina Nusantara University Jakarta11480 Indonesia Industrial Engineering Department BINUS Graduate Program Bina Nusantara University Jakarta11480 Indonesia

Although the parking lot is equipped with CCTV surveillance, car theft incidents still occur occasionally. These thieves exploit a loophole in the system that prevents the identification of the car's brand and model upon entering and exiting the parking lot using the same ticket. Therefore, the aim of this research is to develop a system capable of detecting the brand and model of cars. The study utilizes convolutional neural network technology and specifically focuses on the EfficientNet, MobileNet, and MobileNetV2 architectures due to their low resource requirements. Training images for the study are sourced from an online marketplace for used cars, with each of the 20 car brand and model variations consisting of 100 photographs. creates a model after being processed. For the prototype, the approach is put into practice through a mobile application. This study compares EfficientNet, MobileNetV1, and MobileNetV2 as the end result. EfficientNet scored 74%, MobileNetV1 74%, and MobileNetV2 66% on the test of accuracy. The accuracy increases to 80% after the EfficientNet has been tuned. © 2023 The Authors. Published by Elsevier B.V.

关键词： Convolutional Neural Network EfficientNet MobileNet V2 MobileNetV1 Parking system Transfer Learning

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