Search results for: Connected and autonomous vehicles

Authors: Adnene Arbi, Chaouki Aouiti, Abderrahmane Touati

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In this paper, we consider the uniform asymptotic stability, global asymptotic stability and global exponential stability of the equilibrium point of discrete Hopfield neural networks with delays. Some new stability criteria for system are derived by using the Lyapunov functional method and the linear matrix inequality approach, for estimating the upper bound of Lyapunov functional derivative.

Keywords: Hopfield neural networks, uniform asymptotic stability, global asymptotic stability, exponential stability.

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Authors: I.V. Matyushkin

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The new architecture for quantum cellular automata is offered. A QCA cell includes two layers nc-Si, divided by a dielectric. Among themselves cells are connected by the bridge from a conductive material. The comparison is made between this and QCA, offered earlier by C. Lent's group.

Keywords: quantum cellular automata (QCA), nc-Si, Si/SiO2 superlattices, parallel computing

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Authors: Akbar F. Moghaddam, Magnus Lange, Omid Mirmotahari, Mats Høvin

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To improve HSE standards, oil and gas industries are interested in using remotely controlled and autonomous robots instead of human workers on offshore platforms. In addition to earlier reason this strategy would increase potential revenue, efficient usage of work experts and even would allow operations in more remote areas. This article is the presentation of a custom climbing robot, called Walloid, designed for offshore platform topside automation. This 4 arms climbing robot with grippers is an ongoing project at University of Oslo.

Keywords: Climbing Robots, Mobile Robots, Offshore Robotics, Offshore Platforms, Automation, Inspection, Monitoring.

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Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

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In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.

Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.

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Authors: Changjin Xu, Qianhong Zhang

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In this paper, a delayed competitive system with the effect of toxic substances is investigated. With the aid of differential equations with piecewise constant arguments, a discrete analogue of continuous non-autonomous delayed competitive system with the effect of toxic substances is proposed. By using Gaines and Mawhin,s continuation theorem of coincidence degree theory, a easily verifiable sufficient condition for the existence of positive solutions of difference equations is obtained.

Keywords: Competitive system, periodic solution, discrete time delay, topological degree.

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Authors: Siddhartha Bhattacharyya, Paramartha Dutta, Ujjwal Maulik, Prashanta Kumar Nandi

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A multilayer self organizing neural neural network (MLSONN) architecture for binary object extraction, guided by a beta activation function and characterized by backpropagation of errors estimated from the linear indices of fuzziness of the network output states, is discussed. Since the MLSONN architecture is designed to operate in a single point fixed/uniform thresholding scenario, it does not take into cognizance the heterogeneity of image information in the extraction process. The performance of the MLSONN architecture with representative values of the threshold parameters of the beta activation function employed is also studied. A three layer bidirectional self organizing neural network (BDSONN) architecture comprising fully connected neurons, for the extraction of objects from a noisy background and capable of incorporating the underlying image context heterogeneity through variable and adaptive thresholding, is proposed in this article. The input layer of the network architecture represents the fuzzy membership information of the image scene to be extracted. The second layer (the intermediate layer) and the final layer (the output layer) of the network architecture deal with the self supervised object extraction task by bi-directional propagation of the network states. Each layer except the output layer is connected to the next layer following a neighborhood based topology. The output layer neurons are in turn, connected to the intermediate layer following similar topology, thus forming a counter-propagating architecture with the intermediate layer. The novelty of the proposed architecture is that the assignment/updating of the inter-layer connection weights are done using the relative fuzzy membership values at the constituent neurons in the different network layers. Another interesting feature of the network lies in the fact that the processing capabilities of the intermediate and the output layer neurons are guided by a beta activation function, which uses image context sensitive adaptive thresholding arising out of the fuzzy cardinality estimates of the different network neighborhood fuzzy subsets, rather than resorting to fixed and single point thresholding. An application of the proposed architecture for object extraction is demonstrated using a synthetic and a real life image. The extraction efficiency of the proposed network architecture is evaluated by a proposed system transfer index characteristic of the network.

Keywords: Beta activation function, fuzzy cardinality, multilayer self organizing neural network, object extraction,

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Authors: Vinicius Binotte, Guilherme Baldo, Christiane Goulart, Carlos Valadão, Eliete Caldeira, Teodiano Bastos

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Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.

Keywords: Socially assistive robotics, mobile robot, autonomous control, autism.

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Authors: Vinay Kumar Pilania, Debashish Chakravarty

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The present paper represent the efforts undertaken for the development of an semi-automatic robot that may be used for various post-disaster rescue operation planning and their subsequent execution using one-way communication of video and data from the robot to the controller and controller to the robot respectively. Wireless communication has been used for the purpose so that the robot may access the unapproachable places easily without any difficulties. It is expected that the information obtained from the robot would be of definite help to the rescue team for better planning and execution of their operations.

Keywords: Mine environment, mine navigation, mine rescue robot, video data transmission.

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Authors: Sasan Mohammadi, Samaneh Gholi Mesgarha

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Radio Frequency Identification (RFID) system is looked upon as one of the top ten important technologies in the 20th century and find its applications in many fields such as car industry. The intelligent cars are one important part of this industry and always try to find new and satisfied intelligent cars. The purpose of this paper is to introduce an intelligent car with the based of RFID. By storing the moving control commands such as turn right, turn left, speed up and speed down etc. into the RFID tags beforehand and sticking the tags on the tracks Car can read the moving control commands from the tags and accomplish the proper actions.

Keywords: RFID, Intelligent car, Application of RFID in cars

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Authors: Kayode A. Olaniyi, Adeola A. Ogunleye, Tola M. Osifeko

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Electric Vehicles (EV) appear to be gaining increasing patronage as a feasible alternative to Internal Combustion Engine Vehicles (ICEVs) for having low emission and high operation efficiency. The EV energy storage systems are required to handle high energy and power density capacity constrained by limited space, operating temperature, weight and cost. The choice of strategies for energy storage evaluation, monitoring and control remains a challenging task. This paper presents review of various energy storage technologies and recent researches in battery evaluation techniques used in EV applications. It also underscores strategies for the hybrid energy storage management and control schemes for the improvement of EV stability and reliability. The study reveals that despite the advances recorded in battery technologies there is still no cell which possess both the optimum power and energy densities among other requirements, for EV application. However combination of two or more energy storages as hybrid and allowing the advantageous attributes from each device to be utilized is a promising solution. The review also reveals that State-of-Charge (SoC) is the most crucial method for battery estimation. The conventional method of SoC measurement is however questioned in the literature and adaptive algorithms that include all model of disturbances are being proposed. The review further suggests that heuristic-based approach is commonly adopted in the development of strategies for hybrid energy storage system management. The alternative approach which is optimization-based is found to be more accurate but is memory and computational intensive and as such not recommended in most real-time applications.

Keywords: Hybrid electric vehicle, hybrid energy storage, battery state estimation, ate of charge, state of health.

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Authors: Hidehiko Okada, Yuki Fujii

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Researchers have been applying artificial/ computational intelligence (AI/CI) methods to computer games. In this research field, further researchesare required to compare AI/CI methods with respect to each game application. In thispaper, we report our experimental result on the comparison of evolution strategy, genetic algorithm and their hybrids, applied to evolving controller agents for MarioAI. GA revealed its advantage in our experiment, whereas the expected ability of ES in exploiting (fine-tuning) solutions was not clearly observed. The blend crossover operator and the mutation operator of GA might contribute well to explore the vast search space.

Keywords: Evolutionary algorithm, autonomous game controller agent, neuroevolutions, MarioAI

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Authors: S. Rao, S. Khavtasi, C. Chassot, N. Van Wambeke, F. Armando, S. P. Romano, T. Castaldi

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The talks about technological convergence had been around for almost twenty years. Today Internet made it possible. And this is not only technical evolution. The way it changed our lives reflected in variety of applications, services and technologies used in day-to-day life. Such benefits imposed even more requirements on heterogeneous and unreliable IP networks. Current paper outlines QoS management system developed in the NetQoS [1] project. It describes an overall architecture of management system for heterogeneous networks and proposes automated multi-layer QoS management. Paper focuses on the structure of the most crucial modules of the system that enable autonomous and multi-layer provisioning and dynamic adaptation.

Keywords: Automated QoS management, multi-layerprovisioning and adaptation, QoS, QoE.

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Authors: N. Khatiashvili, Ch. Pirumova, V. Akhobadze

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In the paper the mathematical model of tumor growth is considered. New capillary network formation, which supply cancer cells with the nutrients, is taken into the account. A formula estimating a tumor growth in connection with the number of capillaries is obtained.

Keywords: Differential Equations, Mathematical Models, Vascular Endothelial, Tumor

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Authors: Solomon Neway Jida, Jean-Francois Hetet, Pascal Chesse

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Vehicular emission is the key source of air pollution in the urban environment. This includes both fine particles (PM_2.5) and coarse particulate matters (PM₁₀). However, particulate matter emissions from road traffic comprise emissions from exhaust tailpipe and emissions due to wear and tear of the vehicle part such as brake, tire and clutch and re-suspension of dust (non-exhaust emission). This study estimates the share of the two sources of pollutant particle emissions from on-roadside vehicles in the Addis Ababa municipality, Ethiopia. To calculate its share, two methods were applied; the exhaust-tailpipe emissions were calculated using the Europeans emission inventory Tier II method and Tier I for the non-exhaust emissions (like vehicle tire wear, brake, and road surface wear). The results show that of the total traffic-related particulate emissions in the city, 63% emitted from vehicle exhaust and the remaining 37% from non-exhaust sources. The annual roads transport exhaust emission shares around 2394 tons of particles from all vehicle categories. However, from the total yearly non-exhaust particulate matter emissions’ contribution, tire and brake wear shared around 65% and 35% emanated by road-surface wear. Furthermore, vehicle tire and brake wear were responsible for annual 584.8 tons of coarse particles (PM₁₀) and 314.4 tons of fine particle matter (PM_2.5) emissions in the city whereas surface wear emissions were responsible for around 313.7 tons of PM₁₀ and 169.9 tons of PM_2.5 pollutant emissions in the city. This suggests that non-exhaust sources might be as significant as exhaust sources and have a considerable contribution to the impact on air quality.

Keywords: Addis Ababa, automotive emission, emission estimation, particulate matters.

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Authors: Geun-Mo Kim, Young-Jae Ryoo

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In this paper, an automatic guided mobile robot using a new magnetic position meter is described. In order to measure the lateral position of a mobile robot, a new magnetic position meter is developed. The magnetic position meter can detect the position of a magnetic wire on the center of road. A mobile robot in designed with a sensing system, a steering system and a driving system. The designed mobile robot is tested to verify the performance of automatic guidance.

Keywords: Autonomous vehicle, magnetic position meter, steering, magnet.

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Authors: Javier Romera, Alberto Justo, Ignacio Fidalgo, Javier Araluce, Joshué Pérez

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Nowadays, individuals with mobility needs face a significant challenge when docking vehicles. In many cases, after parking, they encounter insufficient space to exit, leading to two undesired outcomes: either avoiding parking in that spot or settling for improperly placed vehicles. To address this issue, this paper presents a parking control system employing gestural teleoperation. The system comprises three main phases: capturing body markers, interpreting gestures, and transmitting orders to the vehicle. The initial phase is centered around the MediaPipe framework, a versatile tool optimized for real-time gesture recognition. MediaPipe excels at detecting and tracing body markers, with a special emphasis on hand gestures. Hands detection is done by generating 21 reference points for each hand. Subsequently, after data capture, the project employs the MultiPerceptron Layer (MPL) for in-depth gesture classification. This tandem of MediaPipe’s extraction prowess and MPL’s analytical capability ensures that human gestures are translated into actionable commands with high precision. Furthermore, the system has been trained and validated within a built-in dataset. To prove the domain adaptation, a framework based on the Robot Operating System 2 (ROS2), as a communication backbone, alongside CARLA Simulator, is used. Following successful simulations, the system is transitioned to a real-world platform, marking a significant milestone in the project. This real-vehicle implementation verifies the practicality and efficiency of the system beyond theoretical constructs.

Keywords: Gesture detection, MediaPipe, MultiLayer Perceptron Layer, Robot Operating System.

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Authors: Nada Mouchfiq, Ahmed Habbani, Chaimae Benjbara

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The security aspect of the IoT occupies a place of great importance especially after the evolution that has known this field lastly because it must take into account the transformations and the new applications .Blockchain is a new technology dedicated to the data sharing. However, this does not work the same way in the different systems with different operating principles. This article will discuss network security using the Blockchain to facilitate the sending of messages and information, enabling the use of new processes and enabling autonomous coordination of devices. To do this, we will discuss proposed solutions to ensure a high level of security in these networks in the work of other researchers. Finally, our article will propose a method of security more adapted to our needs as a team working in the ad hoc networks, this method is based on the principle of the Blockchain and that we named ”MPR Blockchain”.

Keywords: Ad hoc networks, blockchain, MPR, security.

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Authors: Xizhi Li, Qinming He

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A trend in agent community or enterprises is that they are shifting from closed to open architectures composed of a large number of autonomous agents. One of its implications could be that interface agent framework is getting more important in multi-agent system (MAS); so that systems constructed for different application domains could share a common understanding in human computer interface (HCI) methods, as well as human-agent and agent-agent interfaces. However, interface agent framework usually receives less attention than other aspects of MAS. In this paper, we will propose an interface web agent framework which is based on our former project called WAF and a Distributed HCI template. A group of new functionalities and implications will be discussed, such as web agent presentation, off-line agent reference, reconfigurable activation map of agents, etc. Their enabling techniques and current standards (e.g. existing ontological framework) are also suggested and shown by examples from our own implementation in WAF.

Keywords: HCI, Interface agent, MAS.

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Authors: Batin Latif Aylak, Bernd Noche

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Overhead conveyor systems satisfy by their simple
construction, wide application range and their full compatibility with
other manufacturing systems, which are designed according to
international standards. Ultra-light overhead conveyor systems are
rope-based conveying systems with individually driven vehicles. The
vehicles can move automatically on the rope and this can be realized
by energy and signals. Crossings are realized by switches. Overhead
conveyor systems are particularly used in the automotive industry but
also at post offices. Overhead conveyor systems always must be
integrated with a logistical process by finding the best way for a
cheaper material flow and in order to guarantee precise and fast
workflows. With their help, any transport can take place without
wasting ground and space, without excessive company capacity, lost
or damaged products, erroneous delivery, endless travels and without
wasting time. Ultra-light overhead conveyor systems provide optimal
material flow, which produces profit and saves time. This article
illustrates the advantages of the structure of the ultra-light overhead
conveyor systems in logistics applications and explains the steps of
their system design. After an illustration of the steps, currently
available systems on the market will be shown by means of their
technical characteristics. Due to their simple construction, demands
to an ultra-light overhead conveyor system will be illustrated.

Keywords: Logistics, material flow, overhead conveyor.

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Authors: Amel Ltifi, Ahmed Zouinkhi, Med Salim Bouhlel

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Spontaneous networks such as VANET are in general deployed in an open and thus easily accessible environment. Therefore, they are vulnerable to attacks. Trust management is one of a set of security solutions dedicated to this type of networks. Moreover, the strong mobility of the nodes (in the case of VANET) makes the establishment of a trust management system complex. In this paper, we present a concept of ‘Active Vehicle’ which means an autonomous vehicle that is able to make decision about trustworthiness of alert messages transmitted about road accidents. The behavior of an “Active Vehicle” is modeled using Petri Nets.

Keywords: Component, active vehicle, cooperation, petri nets, trust management, VANET.

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Authors: J. A. Lopez, J. E. Olguín, C. Camargo, G. A. Quijano, R. Martínez

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An anthropometric study applied to 1,115 students of the Faculty of Chemical Sciences and Engineering of the Autonomous University of California. Thirteen individual measurements were taken in a sitting position. The results obtained allow forming a reliable anthropometric database for statistical studies and analysis and inferences of specific distributions, so the opinion of experts in occupational medicine recommendations may emit to reduce risks resulting in an alteration of the vital signs during the execution of their school activities. Another use of these analyses is to use them as a reliable reference for future deeper research, to the design of spaces, tools, utensils, workstations, with anthropometric dimensions and ergonomic characteristics suitable to use.

Keywords: Anthropometry, vital signs, students.

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Authors: S.I.Nikolaeva, Yu.V. Petrov, L.Ye.Skipnikova

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It has been shown that the solution of water shortage problem in Central Asia closely connected with inclusion of atmosphere water vapour into the system of response and water resources management. Some methods of water extraction from atmosphere have been discussed.

Keywords: potable water, water resources, water problems, water scarcity.

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Authors: Kaihong Zhao

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In this paper, the existence of 2n positive periodic solutions for n species non-autonomous Lotka-Volterra cooperative systems with harvesting terms is established by using Mawhin-s continuation theorem of coincidence degree theory and matrix inequality. An example is given to illustrate the effectiveness of our results.

Keywords: Multiple positive periodic solutions, Nonautonomous Lotka-Volterra cooperative system, Coincidence degree, Harvesting term.

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Authors: Ahmet Z. Ozcelik, Serkan Narli

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In this study, a minimal submaximal element of LIT(X) (the lattice of all intuitionistic topologies for X, ordered by inclusion) is determined. Afterwards, a new contractive property, intuitionistic mega-connectedness, is defined. We show that the submaximality and mega-connectedness are not complementary intuitionistic topological invariants by identifying those members of LIT(X) which are intuitionistic mega-connected.

Keywords: Intuitionistic set; intuitionistic topology;intuitionistic submaximality and mega-connectedness.

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Authors: Wei Sun, Ruilin Zheng, Xuyuan Chen

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Micro power sources are required to be used in autonomous microelectromechanical system (MEMS). In this paper,  we designed and fabricated a three dimensional (3D) MEMS supercapacitor, which is consisting of conformal silicon  dioxide/titanium/polypyrrole (PPy) layers on silicon substrate. At first, ''through-structure'' was fabricated on the silicon substrate by high-aspect-ratio deep reactive ion etching (DRIE) method, which enlarges the available surface area significantly. Then the SiO2/Ti/PPy layers grew sequentially on the ³through-structure´. Finally, the supercapacitor was investigated by electrochemical methods.

Keywords: MEMS, Supercapacitor, DRIE, 3D.

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Authors: Christian Rathgeber, Franz Winkler, Xiaoyu Kang, Steffen Müller

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In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results.

Keywords: Trajectory planning, direct method, indirect method, highly automated driving.

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Authors: S. Veera Ragavan, V. Ganapathy

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Many environment specific methods and systems for Robot Navigation exist. However vast strides in the evolution of navigation technologies and system techniques create the need for a general unified framework that is scalable, modular and dynamic. In this paper a Unified Framework for a Robust Conflict-free Robot Navigation System that can be used for either a structured or unstructured and indoor or outdoor environments has been proposed. The fundamental design aspects and implementation issues encountered during the development of the module are discussed. The results of the deployment of three major peripheral modules of the framework namely the GSM based communication module, GIS Module and GPS module are reported in this paper.

Keywords: Localization, Sensor Fusion, Mapping, GIS, GPS, and Autonomous Mobile Robot Navigation.

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Authors: A. Ippolito, C. Bartolomei

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A growing demand is felt today for realistic 3D models enabling the cognition and popularization of historical-artistic heritage. Evaluation and preservation of Cultural Heritage is inextricably connected with the innovative processes of gaining, managing, and using knowledge. The development and perfecting of techniques for acquiring and elaborating photorealistic 3D models, made them pivotal elements for popularizing information of objects on the scale of architectonic structures.

Keywords: Cultural heritage, databases, non-contact survey, 2D- 3D models.

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Authors: Eatedal A. Alabdulkreem, Hamed S. Al-Raweshidy, Maysam F. Abbod

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Border Gateway Protocol (BGP) is the standard routing protocol between various autonomous systems (AS) in the internet. In the event of failure, a considerable delay in the BGP convergence has been shown by empirical measurements. During the convergence time the BGP will repeatedly advertise new routes to some destination and withdraw old ones until it reach a stable state. It has been found that the KEEPALIVE message timer and the HOLD time are tow parameters affecting the convergence speed. This paper aims to find the optimum value for the KEEPALIVE timer and the HOLD time that maximally reduces the convergence time without increasing the traffic. The KEEPALIVE message timer optimal value founded by this paper is 30 second instead of 60 seconds, and the optimal value for the HOLD time is 90 seconds instead of 180 seconds.

Keywords: BGP, Convergence Time, HOLD time, Keep alive.

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Authors: N.Subramanian, U.K.Misra

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The precise form of tensorial transformations acting on a given collection of infinite matrices into another ; for such classical ideas connected with the summability field of double gai sequence spaces. In this paper the results are impose conditions on the tensor g so that it becomes a tensorial transformations from the metric space χ2 to the metric space C

Keywords: tensorial transformations, double gai sequences , double analytic, dual.

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