Electronics最新文献_第5页

Interactive Path Editing and Simulation System for Motion Planning and Control of a Collaborative Robot 用于协作机器人运动规划和控制的交互式路径编辑与仿真系统

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142857

Taeho Yoo, Byoung Wook Choi

{"title":"Interactive Path Editing and Simulation System for Motion Planning and Control of a Collaborative Robot","authors":"Taeho Yoo, Byoung Wook Choi","doi":"10.3390/electronics13142857","DOIUrl":"https://doi.org/10.3390/electronics13142857","url":null,"abstract":"Robots in hazardous environments demand precise and advanced motion control, making extensive simulations crucial for verifying the safety of motion planning. This paper presents a simulation system that enables interactive path editing, allowing for motion planning in a simulated collaborative robot environment and its real-world application. The system includes a simulation host, a control board, and a robot. Unity 3D on a Windows platform provides the simulation environment, while a virtual Linux environment runs ROS2 for execution. Unity sends edited motion paths to ROS2 using the Unity ROS TCP Connector package. The ROS2 MoveIt framework generates trajectories, which are synchronized back to Unity for simulation and real-world validation. To control the six-axis Indy7 collaborative robot, we used the MIO5272 embedded board as an EtherCAT master. Verified trajectories are sent to the target board, synchronizing the robot with the simulation in position and speed. Data are relayed from the host to the MIO5272 using ROS2 and the Data Distribution Service (DDS) to control the robot via EtherCAT communication. The system enables direct simulation and control of various trajectories for robots in hazardous environments. It represents a major advancement by providing safe and optimized trajectories through efficient motion planning and repeated simulations, offering a clear improvement over traditional time-consuming and error-prone teach pendant methods.","PeriodicalId":504598,"journal":{"name":"Electronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141822677","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

Construction Environment Noise Suppression of Ground-Penetrating Radar Signals Based on an RG-DMSA Neural Network 基于 RG-DMSA 神经网络的探地雷达信号施工环境噪声抑制技术

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142843

Qing Wang, Yisheng Chen, Yupeng Shen, Meng Li

引用次数: 0

Maintain Power Transmission and Efficiency Tracking Using Variable Capacitors for Dynamic WPT Systems 使用可变电容保持动态 WPT 系统的功率传输和效率跟踪

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142853

Junda Zhu, S. Barmada, A. Musolino, Luca Sani

{"title":"Maintain Power Transmission and Efficiency Tracking Using Variable Capacitors for Dynamic WPT Systems","authors":"Junda Zhu, S. Barmada, A. Musolino, Luca Sani","doi":"10.3390/electronics13142853","DOIUrl":"https://doi.org/10.3390/electronics13142853","url":null,"abstract":"This study introduces a new method for real-time efficiency tracking and stable output power of Dynamic Wireless Power Transfer (DWPT) systems using variable capacitors. A preliminary detailed discussion and an analysis of the DWPT system are carried out to show how the system can optimize power transmission and efficiency when the relative positions of transmitter and receiver change using a dynamic real-time control of the variable capacitors belonging to the compensation networks. This paper shows a detailed model of the DWPT system, including magnetic coupling analysis, circuit dynamics analysis, and efficiency characteristics analysis, in order to modify the control input values as needed. By utilizing a group optimization strategy, the transmission efficiency can be quickly maximized without using a position detection module. Simulation results demonstrate the effectiveness of the proposed method under various dynamic conditions, achieving significant improvements in energy efficiency and transmission reliability of the DWPT system. This research provides a powerful method to increase the overall performances of DWPT systems, which will help the development of future wireless charging technology.","PeriodicalId":504598,"journal":{"name":"Electronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141822191","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

Data Stealing Attacks against Large Language Models via Backdooring 通过 "回溯 "针对大型语言模型的数据窃取攻击

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142858

Jiaming He, Guanyu Hou, Xinyue Jia, Yangyang Chen, Wenqi Liao, Yinhang Zhou, Rang Zhou

{"title":"Data Stealing Attacks against Large Language Models via Backdooring","authors":"Jiaming He, Guanyu Hou, Xinyue Jia, Yangyang Chen, Wenqi Liao, Yinhang Zhou, Rang Zhou","doi":"10.3390/electronics13142858","DOIUrl":"https://doi.org/10.3390/electronics13142858","url":null,"abstract":"Large language models (LLMs) have gained immense attention and are being increasingly applied in various domains. However, this technological leap forward poses serious security and privacy concerns. This paper explores a novel approach to data stealing attacks by introducing an adaptive method to extract private training data from pre-trained LLMs via backdooring. Our method mainly focuses on the scenario of model customization and is conducted in two phases, including backdoor training and backdoor activation, which allow for the extraction of private information without prior knowledge of the model’s architecture or training data. During the model customization stage, attackers inject the backdoor into the pre-trained LLM by poisoning a small ratio of the training dataset. During the inference stage, attackers can extract private information from the third-party knowledge database by incorporating the pre-defined backdoor trigger. Our method leverages the customization process of LLMs, injecting a stealthy backdoor that can be triggered after deployment to retrieve private data. We demonstrate the effectiveness of our proposed attack through extensive experiments, achieving a notable attack success rate. Extensive experiments demonstrate the effectiveness of our stealing attack in popular LLM architectures, as well as stealthiness during normal inference.","PeriodicalId":504598,"journal":{"name":"Electronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141822672","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

Explainable Artificial Intelligence-Based Decision Support Systems: A Recent Review 基于可解释人工智能的决策支持系统：最新综述

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142842

Georgios Kostopoulos, Gregory Davrazos, S. Kotsiantis

{"title":"Explainable Artificial Intelligence-Based Decision Support Systems: A Recent Review","authors":"Georgios Kostopoulos, Gregory Davrazos, S. Kotsiantis","doi":"10.3390/electronics13142842","DOIUrl":"https://doi.org/10.3390/electronics13142842","url":null,"abstract":"This survey article provides a comprehensive overview of the evolving landscape of Explainable Artificial Intelligence (XAI) in Decision Support Systems (DSSs). As Artificial Intelligence (AI) continues to play a crucial role in decision-making processes across various domains, the need for transparency, interpretability, and trust becomes paramount. This survey examines the methodologies, applications, challenges, and future research directions in the integration of explainability within AI-based Decision Support Systems. Through an in-depth analysis of current research and practical implementations, this article aims to guide researchers, practitioners, and decision-makers in navigating the intricate landscape of XAI-based DSSs. These systems assist end-users in their decision-making, providing a full picture of how a decision was made and boosting trust. Furthermore, a methodical taxonomy of the current methodologies is proposed and representative works are presented and discussed. The analysis of recent studies reveals that there is a growing interest in applying XDSSs in fields such as medical diagnosis, manufacturing, and education, to name a few, since they smooth down the trade-off between accuracy and explainability, boost confidence, and also validate decisions.","PeriodicalId":504598,"journal":{"name":"Electronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141822836","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

Incremental SFM 3D Reconstruction Based on Deep Learning 基于深度学习的增量 SFM 3D 重构

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142850

Lei Liu, Congzheng Wang, Chuncheng Feng, Wanqi Gong, Lingyi Zhang, Libin Liao, Chang Feng

引用次数: 0

Application of Virtual Reality in Developing the Digital Twin for an Integrated Robot Learning System 应用虚拟现实技术开发机器人综合学习系统的数字孪生系统

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142848

W. Tarng, Yu-Jung Wu, Li-Yuan Ye, Chun-Wei Tang, Yun-Chen Lu, Tzu-Ling Wang, Chien-Lung Li

{"title":"Application of Virtual Reality in Developing the Digital Twin for an Integrated Robot Learning System","authors":"W. Tarng, Yu-Jung Wu, Li-Yuan Ye, Chun-Wei Tang, Yun-Chen Lu, Tzu-Ling Wang, Chien-Lung Li","doi":"10.3390/electronics13142848","DOIUrl":"https://doi.org/10.3390/electronics13142848","url":null,"abstract":"Robotics includes complex mathematical calculations and coordinate transformations in forward and inverse kinematics, path planning, and robot dynamics. Students may experience a high cognitive load and lose learning motivation because robotics can be complex and challenging to understand. This study applied virtual reality (VR) technology in robotics education to simplify and visualize complex robot kinematics, aiming to increase learning motivation and reduce cognitive load. This study incorporated real and virtual robot control to develop an integrated robot learning system. This system enables learners to control the digital twin of a physical robot and observe the synchronized motion of both the virtual and physical robots. Users can operate the virtual robot to achieve the target position by setting joint parameters or using values calculated from inverse kinematics. They can also understand the principle of digital twins by observing the synchronous motion of both robots. A teaching experiment was conducted to explore the performance of applying VR in robotics education and its impacts on cognitive load and learning motivation. The system was improved based on user responses to facilitate subsequent promotional activities. VR can transform complex robotics into easily understandable learning experiences and provide an interactive user interface, making the system a suitable learning tool for STEM education.","PeriodicalId":504598,"journal":{"name":"Electronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141823052","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

Day/Night Power Generator Station: A New Power Generation Approach for Lunar and Martian Space Exploration 昼夜发电站：月球和火星太空探索的新型发电方式

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142859

Thomas F. Arciuolo, M. Faezipour, Xingguo Xiong

{"title":"Day/Night Power Generator Station: A New Power Generation Approach for Lunar and Martian Space Exploration","authors":"Thomas F. Arciuolo, M. Faezipour, Xingguo Xiong","doi":"10.3390/electronics13142859","DOIUrl":"https://doi.org/10.3390/electronics13142859","url":null,"abstract":"In the not-too-distant future, humans will return to the Moon and step foot for the first time on Mars. Eventually, humanity will colonize these celestial bodies, where living and working will be commonplace. Energy is fundamental to all life. The energy that people use to sustain themselves on Earth, and in particular on these other worlds, is the integrated, safe production of electrical power, day and night. This paper proposes a radically new solution to this problem: Solar Tracking by day and a Solar Rechargeable Calcium Oxide Chemical Thermoelectric Reactor by night. Called the “Robotic End Effector for Lunar and Martian Geological Exploration of Space” (REEGES) Day/Night Power Generator Station, this form of thermoelectric power generation is mathematically modeled, simulation is performed, and a concept model design is demonstrated in this paper. The results of the presented simulation show the maximum total system output capability is 9.89 V, 6.66 A, and 65.9 W, with an operating time of up to 12 h, through a scalable design. This research provides instructions to the Space Research Community on a complete and novel development methodology for creating fully customized, configurable, safe, and reliable solar/thermoelectric day/night power generators, specifically meant for use on the Moon and Mars, using the Proportional-Integral-Derivative++ (PID++) Humanoid Motion Control Algorithm for its operation on a computationally lightweight microcontroller.","PeriodicalId":504598,"journal":{"name":"Electronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141822371","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

A Novel Chaos Control Strategy for a Single-Phase Photovoltaic Energy Storage Inverter 单相光伏储能逆变器的新型混沌控制策略

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142854

Renxi Gong, Tao Liu, Yan Qin, Jiawei Xu, Zhihuan Wei

引用次数: 0

An AC-DC Coordinated Scheme for Cascaded Hybrid High-Voltage Direct Current to Suppress Wind Power Fluctuations 抑制风电波动的级联混合高压直流交直流协调方案

Electronics Pub Date : 2024-07-19 DOI: 10.3390/electronics13142847

Tingshan Zhou, Qian Li, Yufeng Xu, Yizheng Zhao, Deming Liu, Dong Liu

引用次数: 0