2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)最新文献_第5页

Game-Theoretic and Genetic-Based Approach for Cooperative Mission-Oriented Swarms of Drones 基于博弈论和遗传的协同任务无人机群算法

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998726

Nico Saputro

{"title":"Game-Theoretic and Genetic-Based Approach for Cooperative Mission-Oriented Swarms of Drones","authors":"Nico Saputro","doi":"10.1109/MoRSE48060.2019.8998726","DOIUrl":"https://doi.org/10.1109/MoRSE48060.2019.8998726","url":null,"abstract":"The artificial intelligence applied to a drone has enabled a drone-swarm to operate autonomously as a group and unlocked many new potential applications that deal with more sophisticated tasks. In this paper, we present a game theory mechanism and nature-inspired algorithm that enable a fully autonomous drone-swarm to perform cooperative mission-oriented operations to some distinct targets. These operations require a small-team formation for each target with the potential overlap team member between teams and multiple task assignment and operations scheduling to ensure the mission success in a timely manner. The drone-swarm is modeled and simulated as a multi-agents system. A fully autonomous drone is represented as an intelligent agent with a certain dynamic risk tolerance level. An agent can decide based on the current risk tolerance level to participate in the auction-based team formation for a specific target while the genetic algorithm approach is used for the task assignment and operations scheduling. A multi-agent system simulator, which can be used to visualize, evaluate, and analyze the proposed team formation, task assignment, and operation schedule; is built using Netlogo, a multi-agent programmable modeling environment. A case study and its simulation results are provided to demonstrate the potential use of the proposed approach.","PeriodicalId":111606,"journal":{"name":"2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125653572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Miniaturization of Circular Resonators Waveguide at SHF Frequency using Floral Foam Electromagnetic Engineering 利用花泡沫电磁工程实现高频圆谐振器波导小型化

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998640

Frieta Rizki Andhita, Regina Aprilia Maharani Yusuf, Muhammad Hilman Maulana, H. Ludiyati

{"title":"Miniaturization of Circular Resonators Waveguide at SHF Frequency using Floral Foam Electromagnetic Engineering","authors":"Frieta Rizki Andhita, Regina Aprilia Maharani Yusuf, Muhammad Hilman Maulana, H. Ludiyati","doi":"10.1109/MoRSE48060.2019.8998640","DOIUrl":"https://doi.org/10.1109/MoRSE48060.2019.8998640","url":null,"abstract":"In the commercial setting, telecommunications equipment is provided in a portable dimension. Some researchers have analyzed that the presence of high permittivity dielectric material in telecommunications equipment can reduce the dimensions of the device. The device that has been realized using dielectric material with smaller dimensions is a microstrip antenna. This research can be realized in other telecommunications devices such as cavity resonators by inserting dielectric material into the resonator. Dielectric material that can be used are FR4 epoxy, styrofoam and floral foam. Dielectric material used a floral foam because the latest research shows that floral foam can increase the permittivity higher than FR4 Epoxy and styrofoam. The electromagnetic properties of floral foam are disturbed by adding conductor wires according to the information on the distribution of the maximum electric field magnitude of a TM01 electromagnetic wave mode. The measurement results show that the conventional cavity resonator with 26 mm of radius and artificial cavity resonator with 17.8 mm of radius work at frequency of 5.2 GHz. It shows that the dielectric material floral foam has succeeded in miniaturizing the cavity resonator with a radius difference of 31.4%.","PeriodicalId":111606,"journal":{"name":"2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134322375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Attitude Control of Satellites Actuated by Hybrid Actuators 混合作动器驱动的卫星姿态控制

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998682

D. Giri

{"title":"Attitude Control of Satellites Actuated by Hybrid Actuators","authors":"D. Giri","doi":"10.1109/MoRSE48060.2019.8998682","DOIUrl":"https://doi.org/10.1109/MoRSE48060.2019.8998682","url":null,"abstract":"This paper proposes combined attitude control algorithm for satellites which are actuated by a combination of magnetic and magneto-Coulombic actuators. Magnetic actuators are the ones which are responsible for providing magnetic control torques and are produced as an interaction between the current flowing through magnetic coils placed along the principal moment of inertia axes and local orbital magnetic field. The torques produced by magnetic actuators are constrained in a plane perpendicular to the local orbital magnetic field thereby resulting in an underactuation problem. The underactuation problem is overcome by using magneto-Coulombic actuators along with magnetic actuators. The magneto-Coulombic actuators provide Lorentz torque which are produced as an interaction between the charges present in the Coulomb shells placed along the principal axes of inertia with that of the local orbital magnetic field. In the case of magneto-Coulombic actuators, the torque is constrained in a plane containing the local orbital magnetic field and angular velocity of the satellite which also results in an underactuation problem. However, the hybrid actuator formulation is capable of providing control torque along any arbitrary direction. Asymptotic stability of the proposed control algorithm is proved and numerical simulations elucidate the efficacy of proposed control.","PeriodicalId":111606,"journal":{"name":"2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129185026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Power Coefficient Analysis of Savionus Wind Turbine Using CFD Analysis 基于CFD的savonus风力机功率系数分析

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998703

Marvin Trisakti, Levin Halim, B. Arthaya

引用次数: 3

Experimental Implementation of Fixed-Time Leader-Follower Axial Alignment Tracking 固定时间主从轴向跟踪的实验实现

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998638

P. Anggraeni, W. A. Candra, M. Defoort, M. Djemai

引用次数: 3

Design and Kinematics Analysis of Parallel Robotic Arm for Urological Surgery 泌尿外科并联机械臂的设计与运动学分析

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998677

Kun Tan, Hu Shi, Yisen Wang, Lin Yang

{"title":"Design and Kinematics Analysis of Parallel Robotic Arm for Urological Surgery","authors":"Kun Tan, Hu Shi, Yisen Wang, Lin Yang","doi":"10.1109/MoRSE48060.2019.8998677","DOIUrl":"https://doi.org/10.1109/MoRSE48060.2019.8998677","url":null,"abstract":"In this paper, a novel 4-DOF parallel surgical robot with parallelogram remote center-of-motion mechanism is proposed for transurethral resection of bladder tumors in urology. The emergence of minimally invasive surgery robots has enabled surgeons to achieve more dexterous and more reliable surgical procedures, but general surgical robot platforms have some shortcomings, such as high cost and complicated maintenance, which is not conducive to promotion in a wide range. Based on analysis of the manual operation characteristics of the surgeons in the current operation, the kinematics model of the surgical tool with D-H coordinates is established, and the Jacobian matrix of the cutting points in the instantaneous motion analysis is solved. A robotic arm scheme, including parallelogram remote center-of-motion mechanism, rope drive module and parallel actuator module, is designed. A kinematic model of the surgical robot is established. A calculation method of Jacobian matrix with numerical methods is provided. The Kinematic Conditioning Index defined to measure the operational dexterity of the robot in the global and local space is described. With the index as the optimization goal, optimized selection of parameters and configurations are performed. And the final physical model of surgical robot is shown. The novel surgical robot system can maintain good surgical performance, while greatly reducing system development costs and complexity.","PeriodicalId":111606,"journal":{"name":"2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129118302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

DenseNet with Spatial Pyramid Pooling for Industrial Oil Palm Plantation Detection 基于空间金字塔池的密度网络用于工业油棕种植园检测

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998735

Siti Raihanah Abdani, M. A. Zulkifley

{"title":"DenseNet with Spatial Pyramid Pooling for Industrial Oil Palm Plantation Detection","authors":"Siti Raihanah Abdani, M. A. Zulkifley","doi":"10.1109/MoRSE48060.2019.8998735","DOIUrl":"https://doi.org/10.1109/MoRSE48060.2019.8998735","url":null,"abstract":"Palm oil is the most consumed vegetable oil with many proven benefits to human health. Apart from domestic usage, it has also been widely adopted as a source for biofuel, which produces less carbon footprint compared to the normal fuel. Because of its popularity, a lot of countries has systematically planted oil palm trees to make sure that it will be sustainable for the future generation. Rigorous monitoring of the land used for oil palm plantations is an important step in sustainable farming. Remote sensing approach through satellite imagery has been used to detect the industrial plantations, where their size can be inferred from the segmented regions. Therefore, a good monitoring system relies heavily on accurate detection of the oil palm trees from the satellite images. However, it is hard to detect the plantations because of non-uniformity in the age of oil palm trees, where a young plantation will have sparse canopy pattern, while a mature plantation will have dense canopy pattern. Besides that, any satellite image is prone to the problem of cloud occlusion and thus, raise the difficulty in detecting the plantations. This work presents an improved DenseNet with spatial pyramid pooling (SPP), which can detect the plantations across various scales so that plantation age is not a limiting factor. A set of concatenated features from three different maximum pooling kernels are used to replace the original global average pooling operation. The results show that the addition of SPP module has increased the detection accuracy by 1.78%. Besides that, the results also show that the shallowest DenseNet with 121 layers performs the best compared to the deeper DenseNet versions. The proposed algorithm can be extended to include semantic segmentation module so that the plantation size can be predicted instead of just the presence of oil palm trees.","PeriodicalId":111606,"journal":{"name":"2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123441521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

Devising A New Portable Electronic Firing System 设计一种新型便携式电子射击系统

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998732

Mohammad Ali, T. Wijayanto

{"title":"Devising A New Portable Electronic Firing System","authors":"Mohammad Ali, T. Wijayanto","doi":"10.1109/MoRSE48060.2019.8998732","DOIUrl":"https://doi.org/10.1109/MoRSE48060.2019.8998732","url":null,"abstract":"Traditional method of guarding by human beings (for example soldiers) is a laborious task, which can be leveraged through exploiting the technological revolution of electronics. Accordingly, in this paper, we present design and development of a new portable electronic firing system that can facilitate the task of guarding. Our system features remote control firing in addition to its portability. Moreover, it incorporates the notion of zeroing that is yet to be focused for electronic firing systems in the literature. Another aspect that is also yet to be focused in the literature in this regard is user-level testing. We perform user-level testing of our developed electronic firing system in test-bed settings that adopt a toy pistol as the firing device. We compare performance of our developed system with that of professional human firers. Our experimental results demonstrate that performance of firing by our developed system is better than that of the professional firers. Nonetheless, we analyze how the performance of our developed system will be in real cases as per the correlations between the professional firers' performances in our test-bed and in real cases.","PeriodicalId":111606,"journal":{"name":"2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)","volume":"6 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127976652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of Virtual Firefighting Robots Using Breitenberg and Fuzzy Logic Methods 基于Breitenberg和模糊逻辑方法的虚拟消防机器人开发

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998670

M. Putra, Y. Y. Nazaruddin

引用次数: 1

Parking Space Optimization Using Simplex Method Linear Programming 基于单纯形法线性规划的车位优化

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI: 10.1109/MoRSE48060.2019.8998669

Chyn Ira C. Crisostomo, R. Baldovino

引用次数: 3