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A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

computer Modeling in engineering & Sciences 2024年第5期139卷 1357-1379页

作者： Zhiwei Lin Hui Wang Tianding Chen Yingtao Jiang Jianmei Jiang Yingpin Chen Key Laboratory of Light Field Manipulation and System Integration Applications in Fujian Province School of Physics and Information EngineeringMinnan Normal UniversityZhangzhou363000China Department of Electrical and Computer Engineering University of NevadaLas Vegas89154USA College of Material Engineering Fujian Agriculture and Forestry UniversityFuzhou350000China

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and *** Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion *** satisfactory results in practical scenarios remains *** response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial *** approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free *** enhance convergence speed,the Q-learning algorithm in RL is augmented with ***,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection ***,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power *** efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target *** results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target ***,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

关键词： Reverse path planning Dyna-Q bidirectional search posture angle joint motion

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Dynamic event-triggered formation control of second-order nonholonomic systems

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Journal of systems engineering and Electronics 2023年第2期34卷 501-514页

作者： WANG Xiaoyu SUN Sijia XIAO Feng YU Mei School of Control and Computer Engineering North China Electric Power UniversityBeijing 102206China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China

In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered ***-triggered control protocols combined with persistent excitation(PE)conditions are *** event-detecting processes,an inactive time is introduced after each sampling instant,which can ensure a positive minimum sampling *** increase the flexibility of the event-triggered scheme,internal dynamic variables are included in event-triggering ***,the dynamic event-triggered scheme plays an important role in increasing the lengths of time intervals between any two consecutive *** addition,event-triggered control protocols without forward and angular velocities are also presented based on approximate-differentiation(low-pass)*** asymptotic convergence results are given based on a nested Matrosov theorem and artificial sampling methods.

关键词： nonholonomic system dynamic event-triggered control consensus-based formation

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Automated object recognition in high-resolution optical remote sensing imagery

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National Science Review 2023年第6期10卷 38-41页

作者： Yazhou Yao Tao Chen Hanbo Bi Xinhao Cai Gensheng Pei Guoye Yang Zhiyuan Yan Xian Sun Xing Xu Hai Zhang School of Computer Science and Engineering Nanjing University of Science and Technology Aerospace Information Research Institute Chinese Academy of Sciences School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Key Laboratory of Network Information System Technology (NIST) Aerospace Information Research Institute Chinese Academy of Sciences Department of Computer Science and Technology Tsinghua University School of Computer Science and Engineering University of Electronic Science and Technology of China Pazhou Laboratory (Huangpu) School of Mathematics Northwest University

INTRODUCTION With the rapid development of remote sensing technology,high-quality remote sensing images have become widely *** automated object detection and recognition of these images,which aims to automatically locate objects of interest in remote sensing images and distinguish their specific categories,is an important fundamental task in the *** provides an effective means for geospatial object monitoring in many social applications,such as intelligent transportation,urban planning,environmental monitoring and homeland security.

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An authenticated spectrum acquirement and transmission of encrypted images over fusion centre

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Multimedia Tools and Applications 2024年 1-24页

作者： V, Thanikaiselvan Y, PiyaDessi S, Renuga devi Shanthini, S. Suba Mahalingam, Hemalatha S, Aashiq Banu R, Dhivya V.M, Padmapriya Amirtharajan, Rengarajan School of Electronics Engineering Vellore Institute of Technology Vellore Vellore India School of Information Technology Vellore Institute of Technology Vellore India Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah22254 Saudi Arabia System Engineering Department Military Technological College Muscat Oman Department of Electronics and Communication Engineering Mepco Schlenk Engineering College Tamilnadu Sivakasi626005 India Department of Computer Sciences Marquette University MilwaukeeWI53233 United States School of Electrical & amp Electronics Engineering SASTRA Deemed University 613 401 Thanjavur India

These days, spectrum insufficiency is the most common issue. If the number of smartphone users who access the radio spectrum grows, the radio spectrum becomes increasingly scarce. Certain types of technology equipment are designed to work only within a specific spectrum range, and there is rivalry in specifications for various other applications. As a result, this paper effectively exploits a licensed user’s unused spectrum to reduce the crowded spectrum and eradicate the Radio spectrum shortage. Licensed primary users (PUs) and secondary users (SUs) would be accepted into a Fusion Centre (FC) based on a spectrum framework with authentication. The approved PUs begin by updating their information to FC1;thenceforth, encryption is performed on the information uploaded to FC1. This information from FC1 is stored in Cloud Storage after encryption using the Blowfish algorithm & De-oxy DNA, a fast encryption algorithm. Following that, FC2, connected to the same cloud environment, downloads the PU data uploaded. The spectrum is then allocated to the authenticated SU linked to FC2 based on signal conditions and priority. This proposed method also avoids any delay in the network and encryption by acquiring a fast encryption algorithm, making the system faster and avoiding the Primary User Emulation (PUE) attack. Later, the time taken for the Tiny Encryption Algorithm (TEA) and the Blowfish/DNA algorithm are compared to validate the run time for different input images. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Authentication

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Towards Large-Scale Benchmark Dataset for Remote Sensing Object Detection on Battlefield

Towards Large-Scale Benchmark Dataset for Remote Sensing Obj...

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2024 IEEE International Conference on Consumer Electronics-Asia, ICCE-Asia 2024

作者： Kim, Yechan Park, JongHyun Kim, Sihyun Kim, Sungheon Kim, SooYeon Ko, YeongMin Oh, Junggyun Jeon, Moongu School of Electrical Engineering and Computer Science GIST Korea Republic of Kyungpook National University Department of Robot and Smart System Engineering Korea Republic of HDC Labs Korea Republic of

ISBN: (纸本)9798331530839

Precise object detection allows military personnel to clearly understand their surroundings, leading to planning effective military strategies. Particularly, satellites and drones allow real-time surveillance over large areas, which is crucial for military operations. Collaboration among military, academic, and industrial institutions is required to promote innovation in military target detection. However, potential security concerns usually restrict access to real data from the military. To mitigate this issue, this paper proposes a novel approach to generate synthetic data for remote sensing object detection on the battlefield with ARMA3, one of the renowned military tactic games. With our method, the data for model training can be easily generated without any manpower. To demonstrate the efficacy of our approach, we provide a detailed analysis of the examples from our method. As ARMA3 is well-known for its realistic military combat simulation, we believe our method can effectively contribute to military object detection in remote sensing. © 2024 IEEE.

关键词： Military satellites

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Network-Aware and Welfare-Maximizing Dynamic Pricing for Energy Sharing 63

Network-Aware and Welfare-Maximizing Dynamic Pricing for Ene...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Alahmed, Ahmed S. Cavraro, Guido Bernstein, Andrey Tong, Lang Cornell University School of Electrical and Computer Engineering IthacaNY United States National Renewable Energy Laboratory Power System Engineering Center GoldenCO United States

ISBN: (纸本)9798350316339

The proliferation of behind-the-meter (BTM) distributed energy resources (DER) within the electrical distribution network presents significant supply and demand flexibilities, but also introduces operational challenges such as voltage spikes and reverse power flows. In response, this paper proposes a network-aware dynamic pricing framework tailored for energy-sharing coalitions that aggregate small, but ubiquitous, BTM DER downstream of a distribution system operator's (DSO) revenue meter that adopts a generic net energy metering (NEM) tariff. By formulating a Stackelberg game between the energy-sharing market leader and its prosumers, we show that the dynamic pricing policy induces the prosumers toward a network-safe operation and decentrally maximizes the energysharing social welfare. The dynamic pricing mechanism involves a combination of a locational ex-ante dynamic price and an ex-post allocation, both of which are functions of the energy sharing's BTM DER. The ex-post allocation is proportionate to the price differential between the DSO NEM price and the energy-sharing locational price. Simulation results using real DER data and the IEEE 13-bus test systems illustrate the dynamic nature of network-aware pricing at each bus, and its impact on voltage. © 2024 IEEE.

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Automatic Transportation Mode Classification Using a Deep Reinforcement Learning Approach With Smartphone Sensors

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IEEE Access 2024年 12卷 514-533页

作者： Taherinavid, Siavash Moravvej, Seyed Vahid Chen, Yen-Lin Yang, Jing Ku, Chin Soon Yee, Por Lip Iran University of Science and Technology School of Civil Engineering Tehran13114-16846 Iran Isfahan University of Technology Department of Electrical and Computer Engineering Isfahan84156-83111 Iran National Taipei University of Technology Department of Computer Science and Information Engineering Taipei106344 Taiwan Universiti Malaya Faculty of Computer Science and Information Technology Department of Computer System and Technology Kuala Lumpur50603 Malaysia Universiti Tunku Abdul Rahman Department of Computer Science Kampar31900 Malaysia

The increasing dependence on smartphones with advanced sensors has highlighted the imperative of precise transportation mode classification, pivotal for domains like health monitoring and urban planning. This research is motivated by the pressing demand to enhance transportation mode classification, leveraging the potential of smartphone sensors, notably the accelerometer, magnetometer, and gyroscope. In response to this challenge, we present a novel automated classification model rooted in deep reinforcement learning. Our model stands out for its innovative approach of harnessing enhanced features through artificial neural networks (ANNs) and visualizing the classification task as a structured series of decision-making events. Our model adopts an improved differential evolution (DE) algorithm for initializing weights, coupled with a specialized agent-environment relationship. Every correct classification earns the agent a reward, with additional emphasis on the accurate categorization of less frequent modes through a distinct reward strategy. The Upper Confidence Bound (UCB) technique is used for action selection, promoting deep-seated knowledge, and minimizing reliance on chance. A notable innovation in our work is the introduction of a cluster-centric mutation operation within the DE algorithm. This operation strategically identifies optimal clusters in the current DE population and forges potential solutions using a pioneering update mechanism. When assessed on the extensive HTC dataset, which includes 8311 hours of data gathered from 224 participants over two years. Noteworthy results spotlight an accuracy of 0.88±0.03 and an F-measure of 0.87±0.02, underscoring the efficacy of our approach for large-scale transportation mode classification tasks. This work introduces an innovative strategy in the realm of transportation mode classification, emphasizing both precision and reliability, addressing the pressing need for enhanced classification mechanisms in an eve

关键词： Smartphones

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Characteristic Optimization Based on Combined Statistical Indicators and Random Forest Theory

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CSEE Journal of Power and Energy systems 2024年第6期10卷 2657-2666页

作者： Qingzhen Liu Chao Cai Lei Wu Renwu Yan School of Electric Engineering and Automation Fuzhou UniversityFuzhou 350116China Quanzhou Electric Power Supply Company State Grid Fujian Electric Power CompanyQuanzhou 362000China Electrical and Computer Engineering Department Stevens Institute of TechnologyHobokenNJ07030USA Department of Power System Fujian University of TechnologyFuzhou 350116China

In order to effectively utilize the dielectric response characteristics of transformers to diagnose the insulation state,this paper proposes a two-level hybrid optimization method for analyzing time-domain dielectric response *** optimization algorithm is based on the combined statistical indicators(CSI)and random forest(RF)*** initial feature space set is formed with 23 time-domain *** the first-level stage,statistical indices correlation,distance,and information indicators are integrated to assess the synthesis score of the characteristics,while highly redundant and lowclass discrimination characteristics are eliminated from the initial space *** the second-level stage,the Random Forest based outside bagging data theory is introduced to evaluate the least important characteristics,and the characteristics with low importance indices are excluded to obtain the final optimal feature space *** proposed method is carried out on 82 sets of data from actual dielectric response tests on oil-paper insulation ***,the final optimal feature space set,along with several other data sets,is tested via different diagnosis *** results show that the optimal feature space set obtained via the proposed method outperforms other feature space sets in terms of better adaptability and diagnosis accuracy.

关键词： Feature space optimization integrated statistical indicators oil-paper insulation state random forest time domain characteristic two-level algorithm

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Fractal Dimension Analysis Demonstrates Overestimation and Underestimation of Time in EEG Signal 1

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13th National Technical Symposium on Unmanned system Technology, NUSYS 2023

作者： Azari, Maryam Mollazadeh Sarbaz, Yashar Koohestani, Behrooz Farzamnia, Ali Modeling Biological System’s Laboratory Department of Biomedical Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran Department of Computer Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran Faculty of Engineering Universiti Malaysia Sabah Sabah Kota Kinabalu Malaysia School of Computing and Engineering University of Huddersfield Huddersfield United Kingdom

ISBN: (数字)9789819720279

ISBN: (纸本)9789819720262

Keeping track of time is regarded as an essential human behavior. The question of how the brain deals with temporal information remains a subject of scholarly debate. The current investigation aims to explore the mechanism underlying time perception by extracting fractal dimension from an electroencephalogram (EEG) signal and its frequency bands. To accomplish this, Higuchi’s fractal dimension was calculated for 42 healthy subjects’ electroencephalogram (EEG) signal and its sub-bands during the time perception task. The EEG signal was recorded from 19 channels. Subsequently, a statistical analysis was conducted to compare participants who underestimated versus those who overestimated the elapsed time and significantly different channels were presented. The findings suggest an elevated level of fractal dimensionality in persons who displayed a tendency to overestimate time. The EEG signal and Gamma rhythm emerged as the most distinguishing signals between the two cohorts. The contrast in fractal dimension between the two groups was predominantly apparent in the parietal and central channels. To summarize, an increased level of complexity is discernible in the EEG signal and high-frequency rhythms when there is an overestimation of temporal duration. It can be asserted that the employment of FD yields presents an exceptional approach to comprehending cerebral functionalities, notably temporal perception. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Electroencephalography

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Prediction Analysis of Greeting Gestures based on Data Augmentation and LSTM 23

Prediction Analysis of Greeting Gestures based on Data Augme...

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23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Wibow, Angga Wahyu Sato-Shimokawara, Eri Kurnianingsih Graduate School of System Design Tokyo Metropolitan University Department of Computer Science Tokyo Japan Politeknik Negeri Semarang Department of Electrical Engineering Semarang Indonesia

ISBN: (纸本)9798331528041

The field of Human Activity Recognition (HAR) is growing significantly in several areas but little research focuses on cultural behavior. How machine learning can explain human activity as a promotional tool in understanding cultural differences in a region is very challenging. Studies using Recurrent Neural Network (RNN), especially Long Short-Term Memory (LSTM), require large data when used to research human activity recognition. Using small data is a challenge when using LSTM. This study aims to determine which data augmentation is most appropriate when used using LSTM to predict Japanese greeting gestures, namely eshaku, keirei, saikeirei, waving hands, and Indonesian greeting gestures, namely the movement of bringing both hands together in front of the chest with a slight bow of the head. This study proposes to compare several data augmentations, namely jittering, scaling, permutation, cropping, reverse, time shifting, frequency domain, and synthetic data generation. We evaluate model performance using the Mean Squared Error (MSE), Root Mean Squared Error (RMSE), Mean Absolute Error (MAE), and coefficient of determination (R2) metrics. The experimental results show that Time Shifting has the best MSE, RMSE, and MAE values compared to others and Frequency Domain has the best R2 values compared to others. This study concludes that Time Shifting and Frequency Domain are the best data augmentation methods when using LSTM in predicting greeting gestures using small data. These findings provide valuable insights into the effectiveness of various data augmentation methods in motion prediction tasks with limited data sets, as well as the importance of selecting appropriate data augmentation methods in human motion analysis. Future work could use data from two or more people using model explanations generated by machine learning and developing a new method for cultural behavior. © 2024 IEEE.

关键词： Mean square error

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