The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the fi...
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip.
This work proposes a novel and provably correct method for three-dimensional optimal motion planning in complex environments. Our approach models the 3D motion planning problem by solving streamlines of the potential ...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
This work proposes a novel and provably correct method for three-dimensional optimal motion planning in complex environments. Our approach models the 3D motion planning problem by solving streamlines of the potential fluid flow, filling a gap in traditional motion planning techniques by guaranteeing a closed-loop, smooth and natural-looking navigation solution. Special emphasis is given to an inherent challenge of artificial potential field (APF) methods, namely establishing proofs of safety and stability over the entire optimization process. A model-based actor-critic reinforcement learning algorithm is introduced to approximate the optimal solution to the Hamilton-Jacobi-Bellman equation and update the controller parameters in a deterministic manner. Through a series of ROS-Gazebo software-in-the-loop simulations the proposed methodology demonstrates robustness and outperforms widely used methods such as the RRT
∗
, highlighting its contribution to the field of 3D optimal motion planning.
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into ...
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This study aims to develop a virtual reality (VR) application to improve the fault detection and troubleshooting processes of autonomous industrial mobile robots. The complex systems and operating environments of auto...
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ISBN:
(数字)9798331515799
ISBN:
(纸本)9798331515805
This study aims to develop a virtual reality (VR) application to improve the fault detection and troubleshooting processes of autonomous industrial mobile robots. The complex systems and operating environments of autonomous robots make fault detection challenging for users, requiring effective and user-friendly solutions to overcome these difficulties. In this context, the Robot Operating System (ROS) was utilized to detect errors in robots and record these errors in a database. Thanks to the modular structure and robust communication infrastructure offered by ROS, faults in the robots were monitored and analyzed through ROS *** study demonstrates the effective use of VR technology in the maintenance and repair processes of autonomous industrial mobile robots. By integrating ROS-based data collection and fault detection into a VR environment for user training, robot operators are enabled to troubleshoot faults more quickly and effectively. In this way, it is aimed to achieve time and cost savings in industrial processes.
This study aims to compare and improve the performance of four different machine learning algorithms (Naive Bayes, Multi-Layer Perceptron (MLP), Decision Trees, and Support Vector Machines (SVM)) in classification pro...
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ISBN:
(数字)9798331515799
ISBN:
(纸本)9798331515805
This study aims to compare and improve the performance of four different machine learning algorithms (Naive Bayes, Multi-Layer Perceptron (MLP), Decision Trees, and Support Vector Machines (SVM)) in classification problems. The analyses emphasize the impact of data preprocessing steps and hyperparameter optimization on model performance. As part of the data preprocessing, missing values were imputed, categorical data were transformed into numerical data, and normalization procedures were applied. It was observed that normalization significantly enhanced the performance of the MLP and SVM algorithms in particular. Furthermore, additional improvements in accuracy rates were achieved through hyperparameter optimization. Naive Bayes and Decision Trees were found to exhibit stable performance regardless of data scaling. This study demonstrates that proper data preprocessing and model selection can significantly enhance algorithm performance in classification problems.
More than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently...
More than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently in a shorter time by sharing tasks. Collision of these vehicles is among the most significant problems encountered during their work. The crash of the vehicles causes the vehicles to be out of duty and, accordingly, to the mission’s failure. In this study, Quadrotor-type UAVs used as agents can go to any target point by receiving location, speed, and compass information with GPS and IMU sensors. In the application, the agents’ locations were kept and updated in a list in pairs, similar to the traversing process in the Optimized Bubble Sort Algorithm. The projections of the velocity vectors on the agents’ axis (local) on a single coordinate plane are taken to determine the collision situation between these two agents that are traveling instantaneously. These global velocity vectors, whose projections are taken, are re-projected to the edge formed by these two agents in the graph and then subtracted from each other. Suppose the size of the vector is greater than the distance between two agents obtained by any GPS distance algorithm (Pythagoras, Haversine, etc.). In this case, collision is detected, and the separation process is activated. Separation is the process of advancing one agent in the opposite direction of the other until a minimum safe distance is achieved, where one agent entered by the user will not affect the other. Once the separation is complete, the agent moves to the final destination point.
To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and ...
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We present an integrated framework for intelligent automated plant monitoring, towards early disease and pest detection in greenhouse tomato crops. The framework combines the use of a robotic mobile platform to autono...
We present an integrated framework for intelligent automated plant monitoring, towards early disease and pest detection in greenhouse tomato crops. The framework combines the use of a robotic mobile platform to autonomously collect multi-spectral images of the plants, with a tool that utilizes Faster R-CNN to detect regions that signify the presence of a disease or pest. The robot is based on a modified mobile vertical mast lift platform, and integrates a 6-dof robotic arm that is used to position the plant imaging multi-spectral camera. The robot can navigate autonomously inside the greenhouse via a magnetic guidance sensor. Results from a series of experiments demonstrate the validity and effectiveness of the implemented framework.
This article addresses the distributed optimization problem in the presence of malicious adversaries that can move within the network and induce faulty behaviors in the attacked nodes. We first investigate the vulnera...
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This article addresses the distributed optimization problem in the presence of malicious adversaries that can move within the network and induce faulty behaviors in the attacked nodes. We first investigate the vulnerabilities of a consensus-based secure distributed optimization protocol under mobile adversaries. Then, a modified resilient distributed optimization algorithm is proposed. We develop conditions on the network structure for both complete and non-complete directed graph cases, under which the proposed algorithm guarantees that the estimates by regular nodes converge to the convex combination of the minimizers of their local functions. Simulations are carried out to verify the effectiveness of our approach.
The pollution and toxic greenhouse gases produced by fossil fuel combustion are troubling as global energy demand continues to *** mitigate the consequences of global warming,a transition to sustainable energy sources...
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The pollution and toxic greenhouse gases produced by fossil fuel combustion are troubling as global energy demand continues to *** mitigate the consequences of global warming,a transition to sustainable energy sources is *** manuscript presents a feasible community microgrid design in Hazaribagh,Dhaka based on meteorological data that leads to photovoltaic installation on the rooftop of a local community *** study shows a microgrid design of a system with the lowest cost of energy and a large renewable fraction,which is analysed using the HOMER Pro *** real-time data,analysis of the system cost,cost of energy,renewable fraction,unmet load,energy purchased and energy sold is discussed.A suitable case for electrification is also identified and presented for the selected *** proposed case yields a cost of energy of$0.0357/kWh,which is 52%less than the current tariff rate,with a 70%renewable *** study will provide people in this community with more green energy at a lower cost;in addition,this designed microgrid sells additional energy to the grid to avoid possible power *** potential for a positive energy community is also investigated in terms of energy consumption and renewable output of the planned microgrid.
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