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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 254-262页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonN6A 5B9 Canada Western University Department of Electrical and Computer Engineering LondonN6A 3K7 Canada Advanced Robotics and Mechatronic Systems Laboratory LondonN6A 5B9 Canada

This article introduces a novel mechatronic system for coupling the stems of seedlings and plants to wooden stakes or ropes, a crucial process for supporting them during growth, transportation, and fruiting in plant propagation facilities and greenhouses. The stem–stake coupling device utilizes interconnected mechanisms and an impedance control method to adjust motor torque and speed, shaping metallic wire into clips of various shapes and dimensions, effectively securing plant stems to stakes or ropes. In a robotic system, a claw-shaped arm mechanism, a stereo camera, and real-time vision techniques are integrated into the stem–stake coupling device to identify the optimal coupling point and automate the coupling task. This innovation addresses the labor-intensive task of manual coupling, offering a scalable solution for growers through handheld devices or fully automated robotic systems. In the context of increasing labor shortages and rising costs, the technology offers a sustainable and efficient alternative with significant potential to enhance operational efficiency in greenhouses and propagation facilities. © 2023 IEEE.

关键词： Seed

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Histogram of Oriented Gradients (HOG) and Haar Cascade with Convolutional Neural Network (CNN) Performance Comparison in the Application of Edge Home Security System 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Asy’ari, Muhammad Zacky Filbert, Sebastian Sukra, Zener Lie Automotive and Robotics Program Computer Engineering Department BINUS ASO of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

In recent years, security has played a significant role in our daily lives. House security has become more popular with the enhancement of the Internet of Things (IoT) in intelligent home automation. This paper aims to build a system that can detect faces and the presence of unknown people using computer vision methods combined with the Internet of things. Two algorithms, Histogram of Oriented Gradients (HOG) and Haar Cascade classifiers with the enhancement of Convolutional Neural Network (CNN), were used to compare their performance. The system utilizes Nvidia Jetson Nano as an edge device, HD camera, Light Emitting Diode (LED), and sound buzzer as peripheral hardware. Telegram messenger application was used to notify the homeowner when uninvited guests passed through the pre-defined security area. In the result, the HOG method has 100% accuracy compared to 75% Haar Cascade with 720p video quality in the proposed developed system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Internet of things

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BOX3D: Lightweight Camera-LiDAR Fusion for 3D Object Detection and Localization 32

BOX3D: Lightweight Camera-LiDAR Fusion for 3D Object Detecti...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Saucedo, Mario A.V. Stathoulopoulos, Nikolaos Sumathy, Vidya Kanellakis, Christoforos Nikolakopoulos, George Luleå University of Technology Robotics & AI Group Department of Computer Electrical and Space Engineering LuleåSE-97187 Sweden

ISBN: (纸本)9798350395440

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D, a novel multi-modal and lightweight scheme for localizing objects of interest by fusing the information from RGB camera and 3D LiDAR. BOX3D is structured around a three-layered architecture, building up from the local perception of the incoming sequential sensor data to the global perception refinement that covers for outliers and the general consistency of each object's observation. More specifically, the first layer handles the low-level fusion of camera and LiDAR data for initial 3D bounding box extraction. The second layer converts each LiDAR's scan 3D bounding boxes to the world coordinate frame and applies a spatial pairing and merging mechanism to maintain the uniqueness of objects observed from different viewpoints. Finally, BOX3D integrates the third layer that supervises the consistency of the results on the global map iteratively, using a point-to-voxel comparison for identifying all points in the global map that belong to the object. Benchmarking results of the proposed novel architecture are showcased in multiple experimental trials on public state-of-the-art large-scale dataset of urban environments. © 2024 IEEE.

关键词： Object detection

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Effect of EKF Localization on Path Tracking in Autonomous Vehicle Navigation Systems

Effect of EKF Localization on Path Tracking in Autonomous Ve...

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2025 International Conference on Electronics, Information, and Communication, ICEIC 2025

作者： Cho, Eun Ho Yang, Seung Geon Kwon, Girim Lim, Seung-Chan School of ICT Robotics and Mechanical Engineering Hankyong National University Anseong Korea Republic of School of Electrical and Computer Engineering University of Seoul Seoul Korea Republic of

ISBN: (纸本)9798331510756

This paper presents an integrated approach to evalu-ating the interplay between localization and path-tracking performances in autonomous vehicle navigation systems. Considering stochastic uncertainties in motion and measurement models, we design an extended Kalman filter (EKF) for localization and employ the pure pursuit method for steering control. We analyze how localization accuracy impacts path-tracking performance through extensive simulations, varying the number of landmarks and noise covariance settings. Our results highlight the critical role of accurate localization in improving path tracking, offering valuable insights for designing robust autonomous navigation systems. © 2025 IEEE.

关键词： Stochastic systems

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Explorative Study on Motor Interference During Synchronous Human and Robot Arm Movements Under Varied Presence of a Robot Head

Explorative Study on Motor Interference During Synchronous H...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Kaya, Mertcan Kuhnlenz, Kolja Coburg University of Applied Sciences and Arts Robotics Research Lab Department of Electrical Engineering and Computer Science Coburg Germany

ISBN: (纸本)9781665481090

This paper investigates the influence of a static robot head on deviations of human hand movements from task direction (motor interference) during simultaneous human and robot arm movements using a collaborative robot arm. Synchronous vertical and horizontal human and robot arm movements are conducted in all combinations (within-subjects factors direction and congruency). The presence of the head (head/ no head) is varied as a between-subjects factor. In this first step, only its motionless presence is deliberately focused at, in order to exclude contributions by eye- or head-movement behavior or facial expressions being difficult variables to generalize from. Participants' hands are tracked optically marker-based and deviations from task-related vertical, respectively, horizontal movements are evaluated. In contrast to expectations, results do not show a significant impact of the robot head on motor interference. Thus, there is evidence, that appearance might not be an activating factor for motor interference in HRI. © 2024 IEEE.

关键词： Robotic arms

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Simulation of Data Acquisition System Using SimulIDE, Virtual Serial Port and Python 9

Simulation of Data Acquisition System Using SimulIDE, Virtua...

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9th International Conference on Education and Technology, ICET 2023

作者： Puji, Muhammad Nurul Astuti, Winda Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Engineering Program Computer Engineering Department Jakarta Indonesia

ISBN: (纸本)9798350358292

Data acquisition systems are commonplace in the current era of digitalization and Industry 4.0. These systems are typically used to obtain data from sensors, whether analog or digital, which is then stored for processing in subsequent stages. However, the implementation of hardware for creating data acquisition systems can be challenging due to constraints such as laboratory facilities, budget limitations, and other factors. Therefore, in this research, SimulIDE simulation software was employed to simulate electronic components and the Arduino Uno. To make this virtual Arduino appear as a physical one to the host computer, PyVirtualSerialPorts was used as a virtual serial port. The data acquisition system was created using Python programming with several key features: it can store data in CSV format, present data plots and graphs, and display the frequency spectrum of signals. The system achieved a sampling speed of 1000 data points per second, with input signals limited to a maximum of 10 Hz. This study also shows that signal distortion can occur due to excessively frequent data plotting and Fast Fourier Transform (FFT) processing. Therefore, the use of SimulIDE simulator, virtual serial port, and Python can be utilized in the learning process of a simple data acquisition system. © 2023 IEEE.

关键词： Python

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MDAF: Enhancing Temporal Dynamics in CNNs for Action Recognition

MDAF: Enhancing Temporal Dynamics in CNNs for Action Recogni...

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2024 China Automation Congress, CAC 2024

作者： Wu, Dousang Zhang, Hui Cao, Yihong Du, Rui Biekezat, Baheti School of Robotics Hunan University Changsha China College of Computer Science and Electronic Engineering Hunan University Changsha China

ISBN: (纸本)9798350368604

Understanding temporal information in video sequences is crucial for various computer vision tasks, such as action recognition. Transformer-based methods and GCNs can effectively handle temporal information, but they suffer from high computational costs or poor generalization capabilities. Some research has shown promising results using 3D CNNs to process skeleton data instead of RGB data, but 3D CNNs may treat temporal dimension as a spatial one, limiting their ability to capture complex temporal dynamics. To address these issues, we propose the Multi-Dimensional Attention Fusion module (MDAF), which includes separate channel, spatial, and temporal attention computation modules, integrated through an attention fusion module. This design ensures the effective utilization of attention information across all dimensions. Our method enhances temporal dynamics, improving the recognition of complex actions. Experiments conducted on four benchmark datasets demonstrate that our approach outperforms state-of-the-art methods, achieving significant performance improvements. ©2024 IEEE.

关键词： Spatio-temporal data

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CredChain: Academic and Professional Certificate Verification System using Blockchain

CredChain: Academic and Professional Certificate Verificatio...

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2024 International Conference on Advances in Computing, Communication, Electrical, and Smart Systems, iCACCESS 2024

作者： Al Ahmed, Saniyat Mamun Rudro, Rifat Al Prity, Afrina Jannat Saha, Suman Mansoor, Nafees Nur, Kamruddin Department of Computer Science Dhaka Bangladesh Bangabandhu Sheikh Mujibur Rahman Digital University Bangladesh Department of IoT and Robotics Engineering Gazipur Bangladesh Department of Computer Science and Engineering Dhaka Bangladesh

ISBN: (纸本)9798350350289

The integrity of academic and professional creden-tials is a foundation in education and the professional fields. Traditional certificate verification methods are flawed by in-efficiencies, susceptibility to fraud, and a reliance on manual processes that compromise security and expedience. To address these issues, we present CredChain, a robust Academic and Professional Certificate Verification System that harnesses the power of blockchain technology. Our system utilizes Ethereum-based Decentralized Applications (DApps) and Smart Contracts integrated with the InterPlanetary File System (IPFS) to ensure immutable, secure, and transparent verification processes. We outline the novel algorithms for essential system functions such as certificate uploading, verification, and retrieval of certificates. The CredChain system has been subjected to rigorous testing and validation, demonstrating its effectiveness in mitigating the risk of fraudulent certificates and streamlining the verification process accurately. © 2024 IEEE.

关键词： Smart contract

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Reducing the Computational Cost of Transformers for Person Re-identification

Reducing the Computational Cost of Transformers for Person R...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wang, Wen Lin, Zheyuan Ji, Shanshan Li, Te Gu, Jason Wan, Minhong Zhang, Chunlong Research Center for Intelligent Robotics Zhejiang Lab Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering Canada

ISBN: (纸本)9798350325706

Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset. © 2023 IEEE.

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Stress Detection Using CNN on the WESAD Dataset 4

Stress Detection Using CNN on the WESAD Dataset

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4th International Conference on Emerging Systems and Intelligent Computing, ESIC 2024

作者： Shirley Benita, D. Shamila Ebenezer, A. Susmitha, L. Subathra, M.S.P. Jeba Priya, S. Karunya Institute of Technology and Sciences Department of Computer Science and Engineering Coimbatore India Karunya Institute of Technology and Sciences Departnemt of Robotics Engineering Coimbatore India

ISBN: (纸本)9798350349856

Stress, a pervasive psychological state, profoundly impacts individuals' well-being and may lead to various health issues. In this paper, the WESAD (Wearable Stress and Affect Detection) dataset serves as the primary data source, from which HRV (Heart Rate Variability) data extracted using PPG (Photoplethysmography) sensor is utilized. This data can be obtained in a non-invasive method and is instrumental in this analysis. The dataset comprises HRV data from 15 individual test subjects obtained from PPG sensors, providing a crucial foundation for the detection and classification of individuals into 'stressed' or 'not stressed' categories, thus offering a valuable tool for stress monitoring. This paper is a focused exploration into the CNN (Convolutional Neural Network) Deep Learning model, in which the feature selection process is carried out using Random Forest resulting in the selection of HR (Heart Rate), LF_BOXCOX (Low-Frequency Component - Box-Cox Transformed), MEDIAN_RR (Median of RR Intervals), SDI_BOXCOX (Standard Deviation 1 - Box-Cox Transformed), and SDRR_REL_RR (Standard Deviation of Relative RR Intervals) to optimize the model's performance. The model aims at advancing and refining stress detection methodologies to enhance overall well-being and achieves an accuracy of 98%. © 2024 IEEE.

关键词： Stresses

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