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35th International Conference on Microelectronic Test Structure, ICMTS 2023

作者： Ivy, Landon Lal, Amit Cornell University The SonicMEMS Laboratory School of Electrical and Computer Engineering IthacaNY United States

ISBN: (纸本)9798350346534

Advancing highly integrated micro sensors and actuators calls for the ability to scale down three-dimensional structures while ensuring efficient electrical interconnectivity. This necessitates addressing a pressing need to develop novel techniques for shrinking components and facilitating seamless interconnectivity to the miniature structures. Here, we demonstrate a three-step fabrication method to produce 3D prints fabricated by direct laser writing (DLW) via two-photon polymerization (TPP), with multisided evaporated metal patterns. The three steps consist of printing the core structure and shadow mask shell (SMS) on sacrificial Dextran 70, evaporating metal onto the desired side(s), and then releasing the core and SMS in water. To showcase this process' capabilities, we produced a simple characterization structure featuring two electrical vias, an out-of-plane serpentine resistor, and four solderable electrodes. With this test structure, three firsts were achieved for the TPP community: (1) The deposition of metal patterns onto opposing sides of a DLW structure;(2) the flip-chip soldering of said structure to a PCB;and (3) the verification of electrical continuity through its two microvias. © 2023 IEEE.

关键词： MEMS

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Optimal Path Planning of Mobile Robots Using IsoCost-Based Dynamic Programming 31

Optimal Path Planning of Mobile Robots Using IsoCost-Based D...

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31st International Conference on electrical engineering, ICEE 2023

作者： Alvankarian, Fatemeh Kalhor, Ahmad Masouleh, Mehdi Tale School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798350312560

This paper proposes an optimal local path planning algorithm for mobile robots by means of the so-called IsoCost-based dynamic programming. This algorithm explores and finds the optimal paths to the goal point from different start points in the environment of the robot while avoiding arbitrary numbers and forms of obstacles. The concept of IsoCost HyperSurface (ICHS) is first explained and it is shown that with a certain cost value, the ICHS corresponding to optimal path planning surrounds all other ICHSs corresponding to non-optimal path planning algorithms. Based on this geometric property, agents are initiated and planned to explore and reveal the optimal ICHSs using dynamic programming. The optimality of the proposed method is proved and the results of this method are compared with those of Modified Potential Field and Bug2 algorithms, indicating that the proposed method surpasses the other two algorithms in terms of the optimality of path length and execution time. © 2023 IEEE.

关键词： Dynamic programming

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2D Skeleton-Based Keypoint Generation Method for Grasping Objects with Roughly Uniform Height Variation 11

2D Skeleton-Based Keypoint Generation Method for Grasping Ob...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Sabzejou, Ali Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Department Iran

ISBN: (纸本)9798350308105

Robotic grasping poses a fundamental challenge in robotics, particularly when dealing with unknown objects. This skill has always been a focal point in robotics research due to its fundamental importance and inherent complexity. Recent advances utilize state-of-The-Art learning techniques, including deep learning and deep reinforcement learning, presenting their unique set of challenges. Training these models requires extensive data and computational resources, with the generalization to unknown objects presenting a significant obstacle for robots. This paper presents a comprehensive approach to unknown object robotic grasping, with a specific focus on top-down grasping actions. The process encompasses image preprocessing, the application of the Straight Skeleton (StSkel) method, and the systematic generation of grasp keypoints when applied to a selection of objects from the Dex-Net dataset. During the evaluation, the analysis incorporated crucial metrics, including the number of detected grasp keypoints for each object, the count of successfully generated grasp pairs, the overall success rate, and the success rate when considering the top 5 ranked grasp pairs. One of the notable strengths of this approach lies in its adaptability to a wide array of objects, ranging from simple shapes to complex ones. The proposed approach in this paper paves the way for automatically labeling grasping datasets, providing a valuable asset for developing auto-generating Deep-RL models. The StSkel method effectively captures essential structural information, making it suitable for real-world applications involving diverse objects. The experimental outcomes affirm the robustness and adaptability of the approach, as it most often achieved a high success rate in generating viable pairs of grasping points for most tested objects. Even complex objects yield impressive results, demonstrating the method's potential for real-world applications in grasping unknown objects. © 2023 IEEE.

关键词： Robotics

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Modeling of Surge Corona on Line Conductors (Invited Lecture) 17

Modeling of Surge Corona on Line Conductors (Invited Lecture...

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17th International Symposium on Lightning Protection, SIPDA 2023

作者： Bousiou, Evanthia I. Mikropoulos, Pantelis N. School of Electrical and Computer Engineering Aristotle University of Thessaloniki High Voltage Laboratory Thessaloniki Greece

ISBN: (纸本)9798350357790

Surge corona effects on overvoltage surges propagating on line conductors is of great importance for assessing the lightning performance of transmission lines. However, modeling of surge corona is a formidable task due to the stochastic nature of the involved inception and growth processes, greatly affected by the line geometry, surge overvoltage waveform, conductor surface conditions, as well as atmospheric and weather conditions. This study presents a model for evaluating surge corona inception and growth on overhead line conductors. The model accounts for the stochastic nature of surge corona by yielding probability distributions for its inception characteristics and by discriminating between the different modes of surge corona inception and growth. Based on the mode of surge corona, appropriate values to the guiding field required for growth and to the production of space charge per unit discharge length are assigned. Thus, the salient growth characteristics, namely current, charge and growth velocity are estimated. An application for the evaluation of surge corona on the shield wire of a 400 kV single-circuit overhead transmission line under first and subsequent lightning strokes is made. As a result of a higher overvoltage wavefront steepness, surge corona initiates at higher voltage and is related to a greater charge production for higher lightning peak current and especially for subsequent than first lightning strokes. © 2023 IEEE.

关键词： Overhead lines

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Implementation of Recorded Lightning Current Waveforms in ATP-EMTP Software for Fast-Front Transient Simulations 58

Implementation of Recorded Lightning Current Waveforms in AT...

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58th International Universities Power engineering Conference, UPEC 2023

作者： Datsios, Zacharias G. Patsalis, Diamantis G. Mikropoulos, Pantelis N. Tsovilis, Thomas E. School of Electrical & Computer Engineering Aristotle University of Thessaloniki High Voltage Laboratory Thessaloniki Greece

ISBN: (纸本)9798350316834

This study deals with the implementation of recorded lightning current waveforms in ATP-EMTP. These can be employed as excitation in fast-front transient simulations. A generalized code is developed in MODELS language to import arbitrary waveforms expressed in the form (time, voltage/current) pairs. An investigation is presented on the influence of the time interval used for digitizing recorded lightning current waveforms and of the interpolation method applied between points. ATP-EMTP simulations of direct lightning strikes to 150 kV overhead transmission lines are performed. Fast-front overvoltages are computed across line insulators and the minimum backflashover currents are determined. Cases with Line Surge Arresters (LSAs) are also treated and the energy stressing the LSAs is computed. It is shown that the digitization time interval is not important as long as it reproduces the main features of the recorded waveforms. This applies also for the interpolation method. © 2023 IEEE.

关键词： Electric power transmission

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BACKFLASHOVER RATE ESTIMATION FOR A 66 kV OVERHEAD LINE CONSIDERING LIGHTNING STRIKES ALONG THE SPAN 23

BACKFLASHOVER RATE ESTIMATION FOR A 66 kV OVERHEAD LINE CONS...

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23rd International Symposium on High Voltage engineering, ISH 2023

作者： Ioannidis, Alexios I. Datsios, Zacharias G. Tsovilis, Thomas E. High Voltage Laboratory School of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

ISBN: (纸本)9781839539954

This work aims at estimating the backflashover rate (BFR) of a 66 kV single-circuit overhead line (OHL) by considering the distribution of lightning strikes to the shield wires along its span. For that purpose, a stochastic lightning attachment model based on the theory of fractal structures is employed to compute the shield wire interception radius, as well as the distribution of lightning strikes along the shield wire span. An electromagnetic transient (EMT) model in ATP-EMTP is also used, representing accurately the lightning impulse behaviour of overhead line components, to compute the minimum backflashover current for several span segments of the OHL. The results of the two models are combined for estimating the BFR of the 66 kV OHL;a discussion is made with respect to the BFR expression suggested by CIGRE. Based on the proposed stochastic approach, simplifications of the CIGRE expression regarding BFR estimation for OHLs, which omits the lightning strikes spatial distribution along the span, could be overcome. © The Institution of engineering & Technology 2023.

关键词： Stochastic systems

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Assessment of Field Data Related to the Lightning Performance of Overhead Lines in the Context of Validating Lightning Performance Estimation Methodologies 58

Assessment of Field Data Related to the Lightning Performanc...

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58th International Universities Power engineering Conference, UPEC 2023

作者： Datsios, Zacharias G. Ioannidis, Alexios I. Patsalis, Diamantis G. Mikropoulos, Pantelis N. Tsovilis, Thomas E. School of Electrical & Computer Engineering Aristotle University of Thessaloniki High Voltage Laboratory Thessaloniki Greece

ISBN: (纸本)9798350316834

Evaluating the lightning performance of overhead lines is crucial for ensuring the reliability of the transmission system. Several methodologies for the evaluation of the lightning performance have been proposed yielding considerably different lightning flashover rate predictions due to different assumptions and simplifications. Hence, the validation of these methodologies requires further attention. In this context, this work first deals with the assessment of field data related to the lightning performance of overhead lines;recently published field data are reviewed. Factors impeding straightforward comparisons as well as assumptions due to lack of critical information are discussed in an effort to contribute to a more accurate assessment of the lightning performance of overhead lines. The analysis is complemented by fast-front electromagnetic transient and fractal-based lightning attachment simulation results, as well as lightning flashover rate computations. © 2023 IEEE.

关键词： Overhead lines

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Value of Information Optimization for Object Detection-Driven Joint Video Transmission and Processing in UAV-Enabled Wireless Networks

IEEE Journal on Miniaturization for Air and Space Systems

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IEEE Journal on Miniaturization for Air and Space systems 2025年第2期6卷 59-69页

作者： Cheng, Nan Chen, Haoran Sun, Ruijin Ma, Longfei Zhou, Conghao Zhang, Yuan Hui, Yilong Xidian University State Key Laboratory of ISN School of Telecommunications Engineering Xi’an710071 China University of Waterloo Department of Electrical and Computer Engineering WaterlooONN2L 3G1 Canada University of Electronic Science and Technology of China School of Computer Science and Engineering Chengdu611731 China Huzhou313001 China

In the wake of disasters, rapid and efficient search and rescue operations are essential. Unmanned aerial vehicles (UAVs) have become instrumental in such scenarios, providing real-time video streaming that can be used for object detection to locate survivors. This technology, however, faces significant challenges due to the limited communication and onboard computational resources, which are critical for processing and transmitting high-quality video data. To address these issues, this paper proposes a novel approach that leverages the concept of the value of information (VoI) to optimize the trade-off between the accuracy of object detection and the associated communication costs. By dynamically adjusting the video stream’s quality, the proposed system aims to ensure that the most valuable information is transmitted within the constraints of bandwidth and computational power. To operationalize this concept, we introduce a Deep reinforcement learning (DRL) algorithm that employs the soft actor-critic (SAC) method. The algorithm benefits from the integration of object features and contextual information extracted by ResNet50, which is then processed through a cross-attention structure within the critic network. Our simulation results indicate that our approach significantly enhances the VoI, achieving higher accuracy in object detection with better resource management compared to traditional strategies. © 2019 IEEE.

关键词： Drones

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State Definition in Deep Reinforcement Learning: A Smoothness Index Approach 11

State Definition in Deep Reinforcement Learning: A Smoothnes...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Dehdasthian, Soroosh Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Intraction Laboratory School of Electrical and Computer Engineering Department Iran

ISBN: (纸本)9798350308105

In the pursuit of developing autonomous agents capable of learning optimal behaviors, reinforcement learning has emerged as a foundational frame-work. This paper introduces a novel approach for state definition in deep reinforcement learning systems, with a focus on solving pixel-based control scenarios. The proposed frame-work harnesses the capabilities of Convolutional Variational Auto-Encoders to extract compact and meaningful latent representations from high-dimensional pixel observations. These representations serve as the foundation for constructing an efficient state space for reinforcement learning agents. To further enhance the state construction process, the concept of the Smoothness Index is introduced. Smoothness index acts as a criterion for feature selection within the latent space, facilitating the identification of the most relevant and informative states. Demonstrating the effectiveness of iterative smoothness index-based forward selection, this process notably compresses the observation space while retaining essential information. This compression enables the creation of more efficient reinforcement learning agents. The procedure involves collecting and preprocessing observation data given by the OpenAI Gym car racing environment, encoding observations using a convolutional variational auto-encoder, and iteratively selecting features based on smoothness index. Subsequently, the Proximal Policy Optimization algorithm is employed as a policy-based controller to evaluate the effectiveness of the proposed frame-work. Results indicate that this approach yields a remarkably compact state space that either maintains or enhances reinforcement learning agent performance. This innovative frame-work paves the way for the development of more efficient and adaptive reinforcement learning agents in real-world image-based applications. © 2023 IEEE.

关键词： Reinforcement learning

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SHIELDING FAILURE FLASHOVER RATE ESTIMATION FOR A 66 kV OVERHEAD LINE THROUGH STOCHASTIC LIGHTNING ATTACHMENT SIMULATIONS 23

SHIELDING FAILURE FLASHOVER RATE ESTIMATION FOR A 66 kV OVER...

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23rd International Symposium on High Voltage engineering, ISH 2023

作者： Ioannidis, Alexios I. Datsios, Zacharias G. Tsovilis, Thomas E. High Voltage Laboratory School of Electrical & Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

ISBN: (纸本)9781839539954

In this work, the shielding failure flashover rate (SFFOR) of a 66 kV single-circuit overhead line (OHL) is estimated based on a stochastic approach. Lightning incidence along the span of the OHL is computed via a stochastic lightning attachment model on the basis of fractal structures, that integrates physical leader inception and propagation criteria. The critical lightning currents resulting in line insulation flashover are computed using an ATP-EMTP simulation model of the 66 kV OHL. Simulation results of the two models are integrated into a formulated methodology for estimating the SFFOR of the 66 kV OHL. A comparison is made with commonly used electrogeometric models;the effect of lightning activity at the OHL location on SFFOR computations is studied. Based on the proposed approach, simplifying assumptions of the IEEE Std 1243 procedures associated with lightning incidence estimation and critical flashover current calculation could be overcome, assisting thus, in more comprehensive lightning performance assessment studies for OHLs. © The Institution of engineering & Technology 2023.

关键词： Overhead lines

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