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25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024

作者： Elstner, Laurenz Kyrkjebø, Erik Stoelen, Martin F. Department of Computer Science Electrical Engineering and Mathematical Sciences Western Norway University of Applied Sciences Førde Norway Fieldwork Robotics Ltd. Cambridge United Kingdom

ISBN: (纸本)9783031720611

Traditional rigid robots face limitations in exploration during learning processes in dynamic and unknown environments where contact and impacts are common. Soft robots that leverage compliant materials, for example as part of variable stiffness actuators (VSAs), offer promising avenues for enhanced adaptability and safety. Deep Reinforcement Learning (RL), while proven to be a powerful tool, requires a lot of training data that is time-consuming to gather. This paper introduces a novel approach to simulating robots driven by antagonistic VSAs, as well as full-task learning with a soft robot arm in three environments with different contact types: path following (no contact), door opening (kinematic constraint), and surface wiping (continuous contact). We show that the tendon-driven robot can learn all three tasks, even if learning in a very low-level actuation space. The stretchable tendons enables it to perform relatively well on the contact-rich tasks. Further, using the proposed variable stiffness controller the robot is able to develop a stable behaviour in terms of forces applied to the environment. The results are promising for extending the approach to the physical robot. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Tendons

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Automatic speaker identification system based on MLP network and deep learning in the presence of severe interference

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Multimedia Tools and Applications 2025年 1-42页

作者： Shafik, Amira Sedik, Ahmed El-Shafai, Walid Khalaf, Ashraf A. M. El-Rabaie, El-Sayed M. El-Samie, Fathi E. Abd Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Electrical Engineering Faculty of Engineering Minia University Minia61519 Egypt Smart Systems Engineering Laboratory College of Engineering Prince Sultan University Riyadh11586 Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafr Elsheikh University Kafr El‑Shaikh Egypt Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Automatic Speaker Identification (ASI) is so crucial for security. Current ASI systems perform well in quiet and clean surroundings. However, in noisy situations, the robustness of an ASI system against additive noise and interference is a crucial factor. An investigation of the impact of interference on ASI system performance is presented in this paper, which introduces algorithms for achieving high ASI system performance. The objective is to resist the interference of various forms. This paper presents two models for the ASI task in the presence of interference. The first one depends on Normalized Pitch Frequency (NPF) and Mel-Frequency Cepstral Coefficients (MFCCs) as extracted features and Multi-Layer Perceptron (MLP) as a classifier. In this model, we investigate the utilization of a Discrete Transform (DT), such as Discrete Wavelet Transform (DWT), Discrete Cosine Transform (DCT) and Discrete Sine Transform (DST), to increase the robustness of extracted features against different types of degradation through exploiting the sub-band decomposition characteristics of DWT and the energy compaction property of DCT and DST. This is achieved by extracting features directly from contaminated speech signals in addition to features extracted from discrete transformed signals to create hybrid feature vectors. The enhancement techniques, such as Spectral Subtraction (SS), Winer Filter, and adaptive Wiener filter, are used in a preprocessing stage to eliminate the effect of the interference on the ASI system. In the second model, we investigate the utilization of Deep Learning (DL) based on a Convolutional Neural Network (CNN) with speech signal spectrograms and their Radon transforms to increase the robustness of the ASI system against interference effects. One of this paper goals is to introduce a comparison between the two models and build a more robust ASI system against severe interference. The experimental results indicate that the two proposed models lead to satisfa

关键词： Additive noise

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Analysis of BrainMRI: AI-Assisted Healthcare Framework for the Smart Cities

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Intelligent Automation & Soft Computing 2023年第2期35卷 1843-1856页

作者： Walid El-Shafai Randa Ali Ahmed Sedik Taha El-Sayed Taha Mohammed Abd-Elnaby Fathi E.Abd El-Samie Department Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenoufia32952Egypt Department of ROBOTICS and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafrelsheikhEgypt Department of Computer Engineering College of Computers and Information TechnologyTaif UniversityTaif21944Saudi Arabia

The use of intelligent machines to work and react like humans is vital in emerging smart ***-aided analysis of complex and huge MRI(Mag-netic Resonance Imaging)scans is very important in healthcare *** AI(Artiﬁcial Intelligence)driven healthcare applications,tumor detection is one of the contemporary researchﬁelds that have become attractive to *** are several modalities of imaging performed on the brain for the pur-pose of tumor *** paper offers a deep learning approach for detecting brain tumors from MR(Magnetic Resonance)images based on changes in the division of the training and testing data and the structure of the CNN(Convolu-tional Neural Network)*** proposed approach is carried out on a brain tumor dataset from the National Centre of Image-Guided Therapy,including about 4700 MRI images of ten brain tumor cases with both normal and abnormal *** dataset is divided into test,and train subsets with a ratio of the training set to the validation set of 70:*** main contribution of this paper is introdu-cing an optimum deep learning structure of CNN *** simulation results are obtained for 50 epochs in the training *** simulation results reveal that the optimum CNN architecture consists of four layers.

关键词： Healthcare smart cities clinical automation CNN machine learning brain tumor medical diagnosis

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Designing Optimal Parameters for Single-Axis Solar-Tracker through Analysis of Sun-Path and Tracking Vector Dynamics 6

Designing Optimal Parameters for Single-Axis Solar-Tracker t...

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6th International Conference on electrical engineering and Information and Communication Technology, ICEEICT 2024

作者： Akhtaruzzaman, M. Islam, Md Shofiqul Shahryer, Fahim Arif, Muammer Din Mollik, Md. Sazib Rahman, Muhammad Towfiqur Rahman, Md. Mahbubur Hasan, Mohammad Kamrul Ahmed, Shugata Ashrafuzzaman, Md. Department of Computer Science and Engineering Dhaka1216 Bangladesh Department of Mechanical Engineering Dhaka1216 Bangladesh Department of Electrical and Electronic Engineering Dhaka Bangladesh Department of Computer Science and Engineering Dhaka Bangladesh Faculty of Information Science and Technology Bangi Malaysia Department of Robotics and Mechatronics Engineering Bangladesh Sdn. Bhd. Cyberjaya Malaysia

ISBN: (纸本)9798350385779

The persistent challenges faced by sun-tracking systems include inefficient power production, wastage of energy, ineffective control, and high costs. Most of the existing systems are either static or dual-axis tracking which lead to inefficient output or increasing energy wastage and cost overheads. Though, single-axis tracking system has some benefits over the static or dual-axis tracking, most of the systems do not analyze the selection of optimal sun-path which again leads to inefficient and inadequate absorption of sunlight. Addressing the issues, this article presents a design of optimal parameters for single-axis solar-tracking by analyzing the sun-path and tracking vector dynamics. The study mainly focuses on analyzing solar-tracking dynamics, variations in sunray angles, Azimuth and Elevation dynamics throughout the day for the twelve months, Sun-vector calculation for local coordinates, joint rotational-axis, and joint motion control using a Proportional-Derivative controller. Additionally, the article outlines a conceptual architecture for automated control, monitoring, and power distribution for the potential development of a sustainable smart city. The proposed strategy addresses the issues of the optimal design of a single-axis solar-tracker, thus ensuring the reduction of cost overhead and energy wastage. © 2024 IEEE.

关键词： Dynamics

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Crafting CanSats: A Novel Modular Design Paradigm for Scientific CanSats 20

Crafting CanSats: A Novel Modular Design Paradigm for Scient...

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20th IEEE International Conference on Smart Communities: Improving Quality of Life using AI, robotics and IoT, HONET 2023

作者： Chun, Carrington Patel, Uday Tanveer, M. Hassan Swift, Tom Dallesasse, Kevin Chakravarty, Sumit Kennesaw State Univeristy Department of Robotics and Mechatronics Engineering Marietta United States Kennesaw State Univeristy Department of Electrical and Computer Engineering MariettaGA United States

ISBN: (纸本)9798350331110

This paper introduces a novel modular design paradigm for Scientific CanSats, offering a cost-effective platform for testing space-related hardware in near-space environments with reduced developmental timelines. By harnessing Commercial Off The Shelf (COTS) products alongside open-source technologies, this framework emphasizes quick integration of diverse scientific instruments and control systems. The core architectural elements comprise: (1) a unified power and communication bus, (2) standardized mechanical attachments and interfaces, and (3) distributed computing and data management. To validate the effectiveness and adaptability of this design, undergraduate students were engaged to design modules adhering to the established standards. This approach facilitated the creation of an adaptable ecosystem of Command and Sensor Modules, enabling swift assembly and reconfiguration of CanSats with diverse scientific potentials. Remarkably, students transitioned from conceptual design to tangible modules within a semester, while CanSat assembly and reconfiguration from existing modules took five and four minutes respectively. © 2023 IEEE.

关键词： Conceptual design

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A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control 32

A Resilient Framework for 5G-Edge-Connected UAVs based on Sw...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Damigos, Gerasimos Seisa, Achilleas Santi Satpute, Sumeet Gajanan Lindgren, Tore Nikolakopoulos, George Ericsson Research Luleå Sweden Luleå University of Technology Robotics and AI Group Department of Computer Electrical and Space Engineering Luleå Sweden

ISBN: (纸本)9798350399714

In recent years, the need for resources for handling processes with high computational complexity for mobile robots is becoming increasingly urgent. More specifically, robots need to autonomously operate in a robust and continuous manner, while keeping high performance, a need that led to the utilization of edge computing to offload many computationally demanding and time-critical robotic procedures. However, safe mechanisms should be implemented to handle situations when it is not possible to use the offloaded procedures, such as if the communication is challenged or the edge cluster is not available. To this end, this article presents a switching strategy for safety, redundancy, and optimized behavior through an edge computing-based Model Predictive Controller (MPC) and a low level onboard-PID controller for edge-connected Unmanned Aerial Vehicles (UAVs). The switching strategy is based on communication Key Performance Indicators (KPIs) over 5G to decide whether the UAV should be controlled by the edge-based or have a safe fallback based on the onboard controller. © 2023 IEEE.

关键词： Three term control systems

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Autonomous 3D Reconstruction with Small Unmanned Aerial Vehicle (UAV) using Structure from Motion: Practical Aspects

Autonomous 3D Reconstruction with Small Unmanned Aerial Vehi...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Rayon, Nathan Stevens, Raymond Sevil, Hakki Erhan Department of Computer Science University of West Florida FL32514 United States Department of Electrical and Computer Engineering University of West Florida FL32514 United States Department of Intelligent Systems & Robotics University of West Florida FL32514 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper explores the practical considerations and challenges involved in achieving autonomous 3D reconstruction utilizing small Unmanned Aerial Vehicles (UAVs) through the framework of Structure from Motion (SFM). The utilization of small UAVs equipped with lightweight cameras presents a promising resource for cost-effective and rapid 3D mapping in various domains such as disaster response, infrastructure inspection, and search and rescue. In this study, the critical practical aspects of this process, including height level for taking images, UAV selection, number of images, image acquisition strategies, and computational time. The effectiveness and limitations of autonomous 3D reconstruction with small UAVs through practical insights are summarized, with discussions on potential advancements and areas for future research. This paper serves as a guide for researchers interested in utilizing small UAVs for autonomous 3D reconstruction tasks applications. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Automatic messaging system by detecting the road accidents for vehicle applications

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Materials Today: Proceedings 2023年 80卷 3124-3128页

作者： Karthik, M. Sreevidya, L. Vinodha, K. Thangaraj, M. Hemalatha, G. Sena, T. Viswak Department of Electrical and Electronics Engineering Sri Ramakrishna Engineering College Tamil Nadu Coimbatore641 022 India Department of Electrical and Electronics Engineering VSB College of Engineering Tamil Nadu Coimbatore642 109 India Department of Computer Science and Engineering New Horizon College of Engineering Karnataka Bengaluru560 103 India Department of Electrical and Electronics Engineering Coimbatore Institute of Engineering & Technology 641 055 Tamil Nadu India Department of Robotics and Automation Sri Ramakrishna Engineering College Tamil Nadu Coimbatore641 022 India

The emerging advancements in innovation has changed our lives drastically making it ease. Yet in this forefront world the rate of automobile accidents is still increasing resulting in increased fatality rate majorly due to untimely attention of emergency services. Our project will provide the best possible answer to this problem. When an automobile collides with another vehicle, the MEMS sensor senses this and sends the data, which is then processed by Arduino, according to this project. The Arduino sends an alarm message to a police control room or a rescue squad via the GSM Module, which includes the position. As a result, as soon as the police receive the information, they can use the GPS Module to track down the location. Then, once the location has been confirmed, the necessary steps will be taken. The project alerts the emergency services and the family members for immediate help by sending the location when an accident occurs. © 2021

关键词： Global system for mobile communications

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Open-Source, Low-Cost, and Bimodal Amateur Radio Communication Paradigm for Scientific CanSats 6

Open-Source, Low-Cost, and Bimodal Amateur Radio Communicati...

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6th International Conference on robotics, Control and Automation engineering, RCAE 2023

作者： Chun, Carrington Kihei, Billy Chakravarty, Sumit Tanveer, M. Hassan Kennesaw State Univeristy Department of Robotics and Mechatronics Engineering MariettaGA United States Kennesaw State Univeristy Department of Electrical and Computer Engineering MariettaGA United States

ISBN: (纸本)9798350315301

To facilitate the development of accessible space-bound robotic explorers, this work demonstrates a novel communication architecture intended for scientific CanSats. As low-cost terrestrial simulation platforms for orbital satellites, CanSats provide a valuable proving ground for new technologies or techniques. CanSats are also a considerably more accessible technological frontier than orbital CubeSats, as CanSats are lower in cost to develop and retain fewer operational requirements. Multiple low-cost CanSats and a simple Base Station were developed using Commercial-Off-The-Shelf (COTS) components. The bimodal modulation technique utilizes Amplitude Shift Keying (ASK) as a means for transferring data packets between the devices, while the delay between multiple ASK trains modulates additional Pseudo Morse Code (PMC) information that is audibly decodable with a handheld amateur radio receiver or digitally with a Software Defined Radio (SDR). The presented framework could be a valuable addition to telemetry beacons for orbital satellites that are seeking to engage the open-source or amateur radio communities. © 2023 IEEE.

关键词： Costs

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Modeling and Parameter Identification for Human-robot Coupled Systems in Powered Lower Limb Prostheses. 5

Modeling and Parameter Identification for Human-robot Couple...

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5th World Robot Conference Symposium on Advanced robotics and Automation, WRC SARA 2023

作者： Huang, Yongshan Wang, Xin Liang, Dingkun Xiong, Jiaming Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNS Canada

ISBN: (纸本)9798350307320

Good trajectory tracking results are the basis for the implementation of other upper-level algorithms in powered lower limb prostheses, which rely on dynamics modeling and good parameter identification. However, powered lower limb prosthesis are human-robot coupled systems with human-inthe-loop, and it has been a challenge to model them as well as to perform parameter identification. This paper proposes a modeling method that can realize the decoupling of human-machine, and by constructing the linearized models of human-machine coupled system and prosthetic subsystem about the physical parameter sets respectively, and finally obtaining the relationship of their corresponding physical parameter sets, thus the method of indirectly identifying the parameters of human-machine coupled system through the prosthetic subsystem can be realized. The experimental results verify the feasibility and effectiveness of the method proposed in this paper. And the experimental results also shows that prosthetic controller should take advantage of dynamic of hip motion in order to make the wearer more comfortable and fluid when swinging the leg, and will also make the prosthesis more energy efficient. © 2023 IEEE.

关键词： Energy efficiency

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