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Monocular vision navigation system for UAV autonomous mission: a real-time window-based obstacle avoidance approach

Neural Computing and Applications 2025年 1-18页

作者： Javaid, Abdulrahman Alnaser, Mustafa Baroudi, Uthman Alfaraj, Amjad Research and Development Department Yokogawa Saudi Arabia Company Al Khobar Saudi Arabia Department of Computer Engineering King Fahd University of Petroleum Minerals Dhahran Saudi Arabia Center for Intelligent Secure Systems King Fahd University of Petroleum Minerals Dhahran Saudi Arabia Department of Electrical Engineering King Fahd University of Petroleum Minerals Dhahran Saudi Arabia

The need for autonomous unmanned aerial vehicles (UAVs) is rapidly increasing for various industrial applications today. However, the realization of UAV autonomy requires a careful mix of Artificial Intelligence (AI) and computer vision (CV) techniques to be implemented to address end-user challenges and satisfy field requirements. This study aims to develop an intelligent system for UAV to achieve autonomy with standard low-cost hardware components. We have infused state-of-the-art AI and CV technologies into our developed system architecture to improve autonomous navigational capabilities of UAVs. The proposed architecture has been implemented and tested on the DJI Tello UAV equipped only with a monocular camera on-board and an inertial measurement unit (IMU). We focused on solving multiple practical technical problems that have arisen during this study due to the hardware limitations of the UAV. The study investigated methods for representing obstacles within an environmental map, which are crucial for effective avoidance and path planning, such as their edges, width, and shape, to ensure accurate detection and navigation. The experiments were carried out in an environment that included dynamic obstacles that were not considered in the map. The experimental results showed outstanding performance in terms of successful autonomous navigation for a wide range of light intensity. These results show that the proposed approach has a high potential to achieve autonomous UAV operation in the field with low hardware and energy requirements. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Motion planning

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Evolution of Metallic Connection Technologies of Busbar in Silicon Solar Cells: Brief Review 15

Evolution of Metallic Connection Technologies of Busbar in S...

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： Silveira, A.M.C. Neves, M.R.M. Garcia, R. Alvarez, H. Villalva, M.G. Marques, F.C. Kretly, L.C. School of Electrical and Computer Engineering Communications Department - DECOM Campinas Brazil School of Electrical and Computer Engineering Dept. of Systems and Energy - DSE Campinas Brazil Institute of Physics Gleb Wataghin Dept. of Applied Physics - DFA Campinas Brazil Build Your Dreams Company - BYD Dept. Research and Development - R&D Campinas Brazil

ISBN: (纸本)9798350314182

This work consists of presenting a brief review of the evolution of metallic connection technologies in busbars applied to the front and rear of solar cells, thus demonstrating their fundamentals, materials and essential manufacturing processes that impact on improving the energy efficiency of solar modules. In this brief review, one can follow the technical limitations that led to the evolution of metallic connection technologies in busbars over time and their impacts on the photovoltaic market. Contributing to a broad understanding of the resistive components of solar cells that consists of the series resistance parameter. © 2023 IEEE.

关键词： Busbarless Effective Shadow Ribbon Busbar Serie Resistance Solar cell TLM Wire Busbar

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Enhancing Bearing Reliability in Inverter-Fed IPMSMs Drive: Control Method for Low-Speed Operation

Enhancing Bearing Reliability in Inverter-Fed IPMSMs Drive: ...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Sung Jun Lee Jonghun Choi Gyu Cheol Lim Sang Min Kim Eun Kyung Kim Jung-Ik Ha Department of Electrical and Computer Engineering Seoul National University Seoul Korea Electrified Systems Engineering Ford Motor Company Dearborn United States Motor Control Development Team Hyundai Mobis Uiwang-si Gyeonggi-do Korea

ISBN: (数字)9798350376067

ISBN: (纸本)9798350376074

Voltage source inverters are widely used in industry due to their high control performance and efficiency in electric motor drive systems. The output voltage of inverter at the switching instance causes the generation of bearing current, leading to bearing damage. To investigate the impact of bearing currents on bearing damage, this paper first analyzes the mechanism of bearing currents. Then, a control method for bearing current reduction is proposed. The two-phase pulse-width modulation method that considers the saliency of IPMSM and a capacitive filter topology is presented and verified by experiments in commercial electric vehicle drive system. As a result, the bearing current is reduced by 91% in comparison with space vector pulse-width modulation.

关键词： Space vector pulse width modulation Industries Voltage source inverters Switches Vectors Generators Topology Reliability Voltage control Erosion

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Unraveling the ‘Anomaly’ in Time Series Anomaly Detection: A Self-supervised Tri-domain Solution

arXiv

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arXiv 2023年

作者： Sun, Yuting Pang, Guansong Ye, Guanhua Chen, Tong Hu, Xia Yin, Hongzhi School of Electrical Engineering and Computer Science The University of Queensland Australia School of Computing and Information Systems Singapore Management University Singapore Research and Development Department Deep Neural Computing Company Limited Department of Computer Science Rice University United States

The ongoing challenges in time series anomaly detection (TSAD), notably the scarcity of anomaly annotations and the variability in anomaly lengths and shapes, have led to the need for a more all-encompassing and efficient solution. As limited anomaly labels pose a significant obstacle for traditional supervised models in anomaly classification, various state-of-the-art deep learning techniques, such as self-supervised learning, have been introduced to tackle this issue. However, they encounter difficulties handling variations in anomaly lengths and shapes, limiting their adaptability to diverse anomalies. Additionally, many benchmark datasets suffer from the problem of having explicit anomalies that even random functions can detect. This problem is exacerbated by ill-posed evaluation metrics, such as point adjustment (PA) prior to scoring, which can result in inflated model performance. In this context, we propose a novel self-supervised learning based Tri-domain Anomaly Detector (TriAD), which addresses these challenges by modeling features across three data domains – temporal, frequency, and residual domains – without relying on anomaly labels. Unlike traditional contrastive learning methods, TriAD employs both inter-domain and intra-domain contrastive loss to learn common attributes among normal data and differentiate them from anomalies. Additionally, our approach can detect anomalies of varying lengths by integrating with a discord discovery algorithm. It is worth noting that this study is the first to reevaluate the deep learning potential in TSAD, utilizing both rigorously designed datasets (i.e., UCR Time Series Anomaly Archive) and evaluation metrics (i.e., PA%K and affiliation). Through experimental results on the UCR dataset, TriAD demonstrates a significant improvement in prediction performance across diverse evaluation metrics, achieving an impressive three-fold increase in PA%K based F1 scores over state-of-the-art (SOTA) deep learning models. Moreover

关键词： Anomaly detection

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Characterization of Solar Cell Busbar Grid for Different Technologies by Time Domain Reflectometry Simulation: Transmission Line Approach

Characterization of Solar Cell Busbar Grid for Different Tec...

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IEEE Conference Photovoltaic Specialists (PVSC)

作者： A.M.C. Silveira M.R.M. Neves R. Garcia H. Alvarez M.G. Villalva F.C. Marques L.C. Kretly Communications Department - DECOM School of Electrical and Computer Engineering Campinas Brazil Dept. of Systems and Energy - DSE School of Electrical and Computer Engineering Campinas Brazil Dept. Research and Development - R&D Build Your Dreams Company - BYD Campinas Brazil Dept. of Applied Physics - DFA Institute of Physics Gleb Wataghin Campinas Brazil

This work electromagnetically simulates the design of metallic grids for different Busbar technologies in standard solar cells existing in the photovoltaic market in order to characterize their grid impedance using a signal integrity technique known as Time Domain Reflectometry - TDR and addressing the design of metallized grid of solar cells within the foundations of transmission lines. The objective of the investigation is to parameterize the results obtained so that they can serve as a reference in studies of micro-resistance in series of solar cells and their effects on energy efficiency.

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Evolution of Metallic Connection Technologies of Busbar in Silicon Solar Cells: Brief Review

Evolution of Metallic Connection Technologies of Busbar in S...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： A.M.C. Silveira M.R.M. Neves R. Garcia H. Alvarez M.G. Villalva F.C. Marques L.C. Kretly Communications Department DECOM School of Electrical and Computer Engineering Campinas Brazil Dept. of Systems and Energy DSE School of Electrical and Computer Engineering Campinas Brazil Dept. Research and Development - R&D Build Your Dreams Company - BYD Campinas Brazil Dept. of Applied Physics DFA Institute of Physics Gleb Wataghin Campinas Brazil

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Effects of Salt Spray on c-Si Photovoltaic Modules in the Brazilian Region

Effects of Salt Spray on c-Si Photovoltaic Modules in the Br...

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IEEE Conference Photovoltaic Specialists (PVSC)

作者： Mendelsson R.M. Neves Allan Silveira Hugo S. Alvarez Rodrigo M. Garcia Francisco C. Marques Marcelo G. Villalva Dept. of Systems and Energy - DSE School of Electrical and Computer Engineering Campinas Brazil Communications Department - DECOM School of Electrical and Computer Engineering Campinas Brazil Dept. Research and Development - R&D Build Your Dreams Company - BYD Campinas Brazil Dept. of Applied Physics - DFA Institute of Physics Gleb Wataghin Campinas Brazil

Brazil has great potential for this type of energy generation due to its geographic location, allowing the development of viable photovoltaic (PV) projects in several regions. its use in places close to the sea has increased, with its use on boats and even resorts and hotels. This proximity to the sea requires attention to the local salinity, more precisely to the saline mist. This article will describe the methodology used to carry out the salinity resistance test of PV modules, choosing a specific classification of corrosive atmosphere according to the brazilian environment on the coast where the module will be placed in real conditions.

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Considerations for Analyzing and Interpreting Data from Biometric Monitoring Technologies in Clinical Trials

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Digital Biomarkers 2022年第3期6卷 83-97页

作者： Ratitch, Bohdana Rodriguez-Chavez, Isaac R. Dabral, Abhishek Fontanari, Adriano Vega, Julio Onorati, Francesco Vandendriessche, Benjamin Morton, Stuart Damestani, Yasaman Statistics and Data Insights Bayer WestmountQC Canada Strategy Center for Decentralized Clinical Trials and Digital Medicine Drug Development Solutions Icon Plc Blue BellPA United States Global Development Operations Amgen Inc. Thousand OaksCA United States Product PatchAi S.r.l. An Alira Health Company Padua Italy Department of Medicine University of Pittsburgh PittsburghPA United States Applied Data Science Current Health A Best Buy Health Company BostonMA United States Department of Electrical Computer and Systems Engineering Case Western Reserve University ClevelandOH United States Emerging Digital Medicines Eli Lilly & Co. IndianapolisIN United States Digital Medicine Karyopharm Therapeutics NewtonMA United States

Background: The proliferation and increasing maturity of biometric monitoring technologies allow clinical investigators to measure the health status of trial participants in a more holistic manner, especially outside of traditional clinical settings. This includes capturing meaningful aspects of health in daily living and a more granular and objective manner compared to traditional tools in clinical settings. Summary: Within multidisciplinary teams, statisticians and data scientists are increasingly involved in clinical trials that incorporate digital clinical measures. They are called upon to provide input into trial planning, generation of evidence on the clinical validity of novel clinical measures, and evaluation of the adequacy of existing evidence. Analysis objectives related to demonstrating clinical validity of novel clinical measures differ from typical objectives related to demonstrating safety and efficacy of therapeutic interventions using established measures which statisticians are most familiar with. Key Messages: This paper discusses key considerations for generating evidence for clinical validity through the lens of the type and intended use of a clinical measure. This paper also briefly discusses the regulatory pathways through which clinical validity evidence may be reviewed and highlights challenges that investigators may encounter while dealing with data from biometric monitoring technologies. © 2022 The Author(s). Published by S. Karger AG, Basel. This article is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC). Usage and distribution for commercial purposes requires written permission.

关键词： Biometrics

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A performance-based tabular approach for joint systematic improvement of risk control and resilience applied to telecommunication grid, gas network, and ultrasound localization system

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Environment systems and Decisions 2021年第2期41卷 286-329页

作者： Häring, Ivo Fehling-Kaschek, Mirjam Miller, Natalie Faist, Katja Ganter, Sebastian Srivastava, Kushal Jain, Aishvarya Kumar Fischer, Georg Fischer, Kai Finger, Jörg Stolz, Alexander Leismann, Tobias Hiermaier, Stefan Carli, Marco Battisti, Federica Makri, Rodoula Celozzi, Giuseppe Belesioti, Maria Sfakianakis, Evangelos Agrafioti, Evita Chalkidou, Anastasia Papadakis, George Fuggini, Clemente Bolletta, Fabio Neri, Alberto Giunta, Guiseppe Scheithauer, Hermann Höflinger, Fabian Schott, Dominik J. Schindelhauer, Christian Köhler, Sven Linkov, Igor Fraunhofer Institute for High-Speed Dynamics Ernst-Mach-Institut EMI Freiburg Germany Department of Engineering Roma Tre University Rome Italy Institute of Communication and Computer Systems (ICCS) of the National Technical University of Athens Athens Greece Ericsson Telecomunicazioni S.P.A. Pagani SA Italy Hellenic Telecommunications Organization (OTE) S.A. Maroussi Athens Greece Gap Analysis Crete Greece RINA Consulting Rozzano Italy Leonardo Company Rome Italy ENI San Donato Milanese Italy Hahn-Schickard Villingen-Schwenningen Germany Department of Microsystems Engineering IMTEK University of Freiburg Freiburg Germany Computer Networks and Telematics University of Freiburg Freiburg Germany Engineering Research and Development Center US Army Corps of Engineers Concord MA United States

Organizational and technical approaches have proven successful in increasing the performance and preventing risks at socio-technical systems at all scales. Nevertheless, damaging events are often unavoidable due to a wide and dynamic threat landscape and enabled by the increasing complexity of modern systems. For overall performance and risk control at the system level, resilience can be a versatile option, in particular for reducing resources needed for system development, maintenance, reuse, or disposal. This paper presents a framework for a resilience assessment and management process that builds on existing risk management practice before, during, and after potential and real events. It leverages tabular and matrix correlation methods similar as standardized in the field of risk analysis to fulfill the step-wise resilience assessment and management for critical functions of complex systems. We present data needs for the method implementation and output generation, in particular regarding the assessment of threats and the effects of counter measures. Also included is a discussion of how the results contribute to the advancement of functional risk control and resilience enhancement at system level as well as related practical implications for its efficient implementation. The approach is applied in the domains telecommunication, gas networks, and indoor localization systems. Results and implications are further discussed. © 2021, The Author(s).

关键词： engineering of resilience ISO 31000 Joint risk and resilience analysis and management process Resilience dimensions Socio-technical system System performance function Tabular and matrix approach

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Sensitive and selective ozone sensor based on CuCo2O4 synthesized by a facile solution combustion method

SSRN

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SSRN 2022年

作者： Zhao, Zhongyao Deng, Zanhong Zhang, Ruofan Klamchuen, Annop He, Yong Horprathum, Mati Chang, Junqing Mi, Longqing Li, Meng Wang, Shimao Fang, Xiaodong Meng, Gang School of Environmental Science and Optoelectronic Technology University of Science and Technology of China Hefei230026 China Anhui Provincial Key Laboratory of Photonic Devices and Materials Anhui Institute of Optics and Fine Mechanics Key Lab of Photovoltaic and Energy Conservation Materials Chinese Academy of Sciences Hefei230031 China Advanced Laser Technology Laboratory of Anhui Province Hefei230037 China National Nanotechnology Center National Science and Technology Development Agency Pathum Thani 12120 Thailand Key Laboratory of Optoelectronic Technology and Systems The Education Ministry of China College of Optoelectronic Engineering Chongqing University Chongqing400044 China Opto-Electrochemical Sensing Research Team Spectroscopic and Sensing Devices Research Group National Electronics and Computer Technology Center Pathum Thani 12120 Thailand College of New Materials and New Energies Shenzhen Technology University Shenzhen518118 China Shenzhen Shengfang Technology Company Limited Shenzheng518116 China

In this study, p-type spinel CuCo2O4 nanomaterials with abundant oxygen vacancies were synthesized by a facile one-step solution combustion method, and their sensing characteristics have been investigated. The p-type CuCo2O4 sensor shows a high response of 11 to 1 ppm O3 and low responses (3, NO2, SO2, and 1000 ppm ethanol, methanol and acetone) at 90 °C in dry air, indicating a superior selectivity. The sensor also possesses a wide O3 detection range from 10 to 3000 ppb and good repeatability. More importantly, the relative humidity (RH) could promote the electrical response to O3, and the response to 1 ppm O3 only deviates from 24 to 27 as the RH increases from 50% to 90%, benefitting for practical applications in ambient humid air atmospheres. The humidity enhanced response for p-type CuCo2O4 could be ascribed to the competition of hole carrier reduction, O2− active sites reduction and O3 decomposition promotion induced by the hydroxyl groups. © 2022, The Authors. All rights reserved.

关键词： Copper compounds

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