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Surface electromyography (EMG) has long since entered the routine of both clinicians and researchers, providing simple and objective quantitative assessment of the function of the muscles and peripheral nervous system. The vast majority of modern high-tech rehabilitation and assistive technologies use surface EMG as a feedback source or exoskeleton drive controller. For all years of its use, surface EMG has not become a versatile method, having encountered a number of obstacles, both in science and in clinical practice. However, the development of technologies, combined use together with other methods, and large number of studies aimed at improving the method has allowed surface EMG to become an indispensable tool in biomechanical analysis of movements and practical rehabilitation. This review describes the main advantages and disadvantages, research results, and clinical use of surface EMG.

This paper presents a time-division-multiplexed (TDM) clocked-analog low-dropout regulator (CLDO) that shares one controller between multiple output channels. Clocked-analog operation is introduced to create idle periods that enable the shared controller to independently regulate different output channels through time-division multiplexing. Furthermore, an asynchronous transient enhancing technique is presented. Thanks to the controller sharing, the TDM CLDO is more area-efficient than conventional designs for supplying multiple outputs, especially when power stages and on-chip loads are small. To verify the effectiveness of the TDM CLDO, a dual-channel version is fabricated in a 130 nm CMOS process. Measurement results show that it can independently track two 100 kHz $0.3~\rm V_{pp}$ sinusoidal signals with 4 mV average output error at $100~\Omega $ load and 6 MHz clock frequency. For load transient responses, it can independently regulate two output channels to 1.05 V and 0.95 V with 41 mV/88 mV and 67 mV/39 mV overshoot/undershoot when both channels experience 5 mA current steps at $1.2~\rm V_{dd}$ . To the best of our knowledge, this is the first time that hardware sharing is implemented for continuous closed-loop systems.

The need for electrical energy is vital because electrical equipment generally uses electricity as the main energy. Electricity is energy that comes from petroleum which must be saved in its use. To save electricity usage, it is necessary to use electricity as efficiently as possible by not allowing this energy to be wasted. This paper aims to design an application for controlling electrical equipment remotely using the internet network. This tool uses Esp8266 as a link with the internet network, and uses applications on Android as a controlling media. When esp8266 is connected to the internet network and the on / off button on the android application is pressed, the ac and fan lights will turn on or off according to the button pressed. The results of testing this remote electrical appliance controller are that the tool can work properly turning on or off the lights and fans when connected to the internet without distance restrictions.

The introduction of modern Smart Home Systems (SHSs) is redefining the way we perform everyday activities. Today, myriad SHS applications and the devices they control are widely available to users. Specifically, users can easily download and install the apps from vendor-specific app markets, or develop their own, to effectively implement their SHS solutions. However, despite their benefits, app-based SHSs unfold diverse security risks. Several attacks have already been reported to SHSs and current security solutions only consider smart home devices and apps individually to detect malicious actions, rather than the context of the SHS as a whole. Thus, the current security solutions applied to SHSs cannot capture user activities and sensor-device-user interactions in a holistic fashion. To address these limitations, in this article, we introduce A egis +, a novel context-aware platform-independent security framework to detect malicious behavior in an SHS. Specifically, A egis + observes the states of the connected smart home entities (sensors and devices) for different user activities and usage patterns in an SHS and builds a contextual model to differentiate between malicious and benign behavior. We evaluated the efficacy and performance of A egis + in multiple smart home settings (i.e., single bedroom, double bedroom, duplex) and platforms (i.e., Samsung SmartThings, Amazon Alexa) where real users perform day-to-day activities using real SHS devices. We also measured the performance of A egis + against five different malicious behaviors. Our detailed evaluation shows that A egis + can detect malicious behavior in SHS with high accuracy (over 95%) and secure the SHS regardless of the smart home layout and platforms, device configurations, installed apps, controller devices, and enforced user policies. Finally, A egis + yields minimum overhead to the SHS, ensuring effective deployability in real-life smart environments.

To further improve the use efficiency of laboratory equipment, and carry out intelligent monitoring and management of laboratory equipment, based on the design concept of artificial intelligence, a set of laboratory monitoring products for the 6G Industrial Internet of Things (IIoT) field are designed. The main framework of this product is mainly composed of three parts: information control part, information summary transmission part and information monitoring and storage part. Among them, the information control part can intelligently collect the basic data of the laboratory, and monitor the laboratory equipment and environment intelligently. It is mainly composed of local sensor network, field controller network, and local management center; the information summary transmission part is responsible for collecting, forwarding and monitoring data, and the core component is the intelligent Internet of things (IoT) gateway; the information monitoring and storage is responsible for transmitting the data to the cloud server to realize the remote intelligent monitoring function of the system. In this exploration, it is applied to the daily management of an automation laboratory. The results show that the system can effectively realize the real-time and remote monitoring of laboratory equipment, and complete the daily monitoring and management. However, the system still has some problems, such as slow running speed when it is used for the first time, which will be further solved by optimizing the system and other means in the future. The products in the field of IIoT based on artificial intelligence discussed in this exploration have important reference value for the monitoring of laboratory equipment.

Automated and highly automated vehicles still need to interact with the driver at different cognitive levels. Those who are SAE level 1 or 2 consider the human in the loop all the time and require strong participation of the driver at the control level. Yet, to increase safety, trust, and driver comfort with this mode of automation, systems with a strong cooperative component are needed. In this sense, this paper introduces the design of a vehicle controller based on shared control, together with an arbitration system, and the design of a visual human-machine interface (HMI) to foster the mutual understanding between driver and automation while sharing driving task. The driver-automation cooperation is achieved through incremental support, in a continuum spectrum from manual to full automation. Additionally, the design of an HMI to support the driver in a takeover maneuver is presented, considering that this functionality is a key component of vehicle SAE levels 3 and 4. The work presented in this paper represents the latest advances in the integration being carried out within the framework of the PRYSTINE project.

A novel technique for transmission of information through visible light communication (VLC) is developed in this study. A light-emitting diode is used as the light source at the transmitting side to send the encrypted information. At the receiving side, a light sensor, OPT-101, is used to receive the light signals that carry the encrypted information. The Arduino Due microcontroller board is used for digital signal processing at both the transmitting and receiving sides. Furthermore, to prevent the transmitted message from being intercepted, two chaotic systems, a master and a slave, with a synchronization controller are designed to obtain the transmitted audio signals. The design enables not only a VLC system with the light transmission path as a straight line (so that data cannot be stolen) but also the encryption of the audio signals with the chaotic system (Rössler system) to enhance data transmission security. The effectiveness of this system is then experimentally verified.

We propose a new I/O architecture for NAND flash-based SSDs, called application-managed flash (AMF) and present two case studies to show its usefulness. In a typical SSD controller, an intermediate software layer, called the flash translation layer (FTL), is employed between NAND flash chips and a host interface. The main responsibility of an FTL is to provide interoperability with conventional HDDs, but this interoperability comes at the cost of extra hardware resources and degraded I/O performance. The proposed AMF refactors the flash storage architecture so that an SSD controller exposes append-only segments, which do not permit overwriting. This refactoring dramatically improves performance of applications and reduces hardware costs by allowing applications to directly manage flash storage with minimal supports from the SSD controller. In order to understand the benefits of AMF, we study two popular applications: a log-structured file system (F2FS) and a key-value store (RocksDB). Our experiments show that the DRAM in the flash controller is reduced by 128X and the performances of the file system and the key-value store improve by 80 and 54 percent, respectively, over conventional SSDs.

There is a growing need for usable and secure authentication in immersive virtual reality (VR). Established concepts (e.g., 2D authentication schemes) are vulnerable to observation attacks, and most alternatives are relatively slow. We present RubikAuth, an authentication scheme for VR where users authenticate quickly and secure by selecting digits from a virtual 3D cube that leverages coordinated 3D manipulation and pointing. We report on results from three studies comparing how pointing using eye gaze, head pose, and controller tapping impact RubikAuth’s usability, memorability, and observation resistance under three realistic threat models. We found that entering a four-symbol RubikAuth password is fast: 1.69–3.5 s using controller tapping, 2.35–4.68 s using head pose and 2.39 –4.92 s using eye gaze, and highly resilient to observations: 96–99.55% of observation attacks were unsuccessful. RubikAuth also has a large theoretical password space: 45 n for an n -symbols password. Our work underlines the importance of considering novel but realistic threat models beyond standard one-time attacks to fully assess the observation-resistance of authentication schemes. We conclude with an in-depth discussion of authentication systems for VR and outline five learned lessons for designing and evaluating authentication schemes.

Background: The study of kerosene fuel for gasoline engines is of great significance to the supply, management, storage, transportation of military fuel, as well as its safety. A small aviation twostroke kerosene engine fuel injection controller is the key technology of kerosene engines. It is very important to improve the performance of kerosene engine by controlling the air-fuel ratio accurately. Objective: In this study, the initial injection pulse spectrum was firstly obtained by numerical calculation in the absence of kerosene injection pulse spectrum, and then the injection controller was designed based on the initial injection pulse spectrum. Methodology: Firstly, a numerical model of the whole engine was established by using BOOST software. The air mass flow data of the inlet was obtained through numerical calculation. The amount of initial engine fuel injection was calculated according to the requirements of air-fuel ratios in each working condition, from which an initial injection pulse spectrum was obtained. Then, based on Freescale 16-bit embedded micro-controller MC9S12DP512, a kerosene engine fuel injection controller was developed, together with the circuit. According to the initial fuel injection pulse spectrum, a twodimensional interpolation algorithm was developed by using assembly language and C language mixed programming, and the anti-electromagnetic interference ability of the controller was further enhanced. Finally, the accuracy of the initial injection pulse spectrum and the performance and reliability of the injection controller of the kerosene engine were verified by the kerosene engine bench test. Results: The experimental results show that the numerical model was accurate, and the development time of the injection controller reduced by using the numerical model to calculate the initial injection pulse spectra. Conclusion: The developed controller was observed to be stable and reliable, which can meet the control requirement.

The analysis of the accuracy of the Global Positioning System (GPS) versus DQ hybrid positioning system GPS and Inertial of Navigation. System (INS) allows determining which them offers greater accuracy in following an established path a GPS Module, inertial sensors and the Pixhawk controller card uses Kalman filter as a coupling method between GPS and INS, a telemetry system for data transmission and a decoder for the remote control. The test scenarios consist of two paths executed at 12:00 and 20:00 due to the atmospheric conditions present at different times of the day. It is confirmed that the GPS / INS system had an accuracy greater than GPS up to 73.6% on average of the two scenarios during the which day, while at night it increases the precision of up to 17.5%, this means that the implemented system has as a correction of errors produced due to ionization of the ionosphere, being the main attenuation factor of the GPS signal in the communication channel., El análisis de la precisión del Sistema de Posicionamiento Global (GPS) frente al sistema de posicionamiento hibrido entre GPS y el Sistema de Navegación Inercial (INS) permite determinar cual de ellos ofrece mayor exactitud en el seguimiento de una trayectoria establecida ejecutada por un vehículo autónomo terrestre diseñado e implementado el cual consiste en incorporar al vehículo un Módulo GPS, sensores inerciales y la tarjeta controladora Pixhawk que usa el filtro de Kalman como método de acoplamiento entre las arquitecturas GPS e INS, además de un sistema de telemetría para la transmisión de datos y una decodificadora para el mando a distancia. Los escenarios de pruebas consisten de dos trayectorias ejecutadas a las 12:00 y 20:00 debido a las condiciones atmosféricas presentes en distintas horas del día. Se confirma que el sistema GPS/INS tuvo una precisión mayor al GPS de hasta un 73.6% en promediode los dos escenarios durante el día, mientras que en la noche incrementa la precisión de hasta 17.5%, lo que significa que el sistema implementado tiene como función la corrección de errores producidos debido a la ionización de la ionosfera siendo el principal factor de atenuación de la señal de GPS en el canal de comunicación.

Boring bar deflection is a generic problem when machining deep holes to high dimensional tolerances. Reaching the final dimension can be tricky and time consuming because the deflection varies with cutting parameters, insert, and material. Here we use embedded strain sensors to determine the tool deflection, and we compensate for it by adding an overlaid movement to the machine tool x-axis. The compensating value from the tool is sent via Bluetooth to an IPC that communicates with the CNC kernel via the PLC. We investigate and discuss the accuracy and dynamics of this machining system installed in our largest lathe.

The ways which are used today in order to light houses, offices, and most of the indoor areas are inefficient as a lot of energy is consumed unnecessarily during the day time. Mainly this problem because the interior lighting design consider the worst case when the light service is at night, which is not always valid. Also in most cases the lighting system design relies on people to control the lights switching on and off. This problem is also one of the design concerns in Green Building. In this paper, a solution to this problem and a method for people’s comfort who use the indoor facilities in industrial buildings is presented. In the proposed smart lighting system, lights switch on automatically when there is somebody in the room or in the occupied space and switch off when there is no occupancy. In addition to this known technique, adjustment of the brightness level of the lights will be possible via the personal computer or any other smart device. In this method, for the illumination level in the area, where is needed to be controlled for better energy saving, the light automatically is measured by the sensor and considering the amount of background lights coming from outside, automatically the brightness of lights is controlled to reach the preset level that determined for that room. By the means of this method, it is possible to provide better user comfort, avoid human forcedness to switch the light on and off, and hence effective energy saving. Arduino controller is used to build the controller and to demonstrate the results. Economic analysis was done to calculate the percentage of the energy saving that can be obtained by implementing the proposed smart lighting controller. As an outcome of the economic analysis, energy saving norm for an office with a standard size was calculated.

In recent years, floating debris in the sea has damaged the environment and harmed wildlife. Systems for collecting floating marine debris in the open ocean by installing a huge net or using a vacuum device have been proposed. However, to the best of our knowledge, there is no system for collecting marine debris in complex topographies, such as ports wherein marine debris tends to accumulate, and large vessels cannot enter. This study proposes a system to locate and collect floating marine debris by jointly using an unmanned aerial vehicle (UAV) and an unmanned underwater vehicle (UUV). The UAV discovers marine debris that cannot be observed by the UUV owing to its limited view, and the UUV is used for collection. However, for application of such a system, problems related to target detection, UUV navigation, and target collection must be solved. In the proposed system, the following components are developed: a graphical user interface to select the collection target, controller for the UUV to navigate to the target, and a collecting motion generator. We tested and evaluated the proposed cooperative system using a dynamic simulator and physical robots. As a result, we confirm that our system can achieve efficient debris collection in complex topographies, is easy to use, will reduced workload, and can be applied practically.

Maintaining a clean living and working environment is an important means to ensure people’s quality of life. As the height of the building increases, the traditional method of cleaning windows by human workers not only takes a long time, but also brings the risk of falling off. It is necessary to replace human workers with robots for carrying out such heavy-duty and dangerous work. Various window-cleaning robots have been applied in cleaning work for certain actual scenarios. In this paper, the state-of-the-art survey of recent developments on window-cleaning robots is presented. The applications of window-cleaning robots in two main domains of domestic use and high-rise building environments are presented and the corresponding technical requirements are summarized. Afterward, the main techniques of window-cleaning robot development including locomotion mechanisms, adhesion mechanisms, cleaning mechanisms, and sensor and controller units are reviewed in detail. The survey provides a reference for the readers to design and develop a window-cleaning robot for specific application.

This paper is introducing a “Magyarok a Marson” robot, which is developed at the Institute of Automation and Infocommunication in University of Miskolc. The controller was built for “Magyarok a Marson” student competition. Our goal was to create a controller, which looks like a magic wand and it is able to control remotely a spherical robot. It was the expectation of the competition. My main task was the hardware design of the remote controller. This paper presents the requirements of the competition, the development of the PCB panel and the controller itself.

In this paper we present, the design and working of the automated low-temperature four-probe DC electrical resistivity measurement setup developed in-house. This setup measures the resistance/resistivity in the temperature range 300 K to 80 K. The overall arrangement comprises a low-temperature four-probe sample holder, Lakeshore 335 Temperature controller, Keithley Delta mode 6221 AC/DC source, 2182A Nano-voltmeter, and a vacuum system. For the measurement of sample temperature Pt-100 sensor is employed. The IEEE-488.2 card and GPIB cables link the mentioned instruments to the computer. The licenced Lab-VIEW 2018 software is employed to build the control programme. The established setup can measure the resistance of both bulk and thin-film samples, making it versatile. A test measurement on well-characterized ceramic Pr0.67Sr0.33MnO3 perovskite oxide synthesized using a solid-state route has been carried out in the newly installed setup. The data acquired from the installed setup and beforehand resistance measurement carried out in-house low-temperature resistance measurement setup at UGC-DAE-Consortium for scientific research, Indore conceded a precision for both temperature and resistance.

A digital microfluidic biochip (DMFB) is a miniaturized laboratory capable of implementing biochemical protocols. Fully integrated DMFBs consist of a hardware platform, controller, and network connectivity, making it a cyber-physical system (CPS). A DMFB CPS is being advocated for safety-critical applications, such as medical diagnosis, drug development, and personalized medicine. Hence, the security of a DMFB CPS is of immense importance to their successful deployment. Recent research has made progress in devising corresponding defense mechanisms by employing so-called checkpoints (CPs). Existing solutions either rely on probabilistic security analysis that does not consider all possible actions an attacker may use to overcome an applied CP mechanism or rely on exhaustive monitoring of DMFB at all time-steps during the assay execution. For devising a defense scheme that is guaranteed to be secure, an exact analysis of the security of a DMFB is needed. This is not available in the current state-of-the-art. In this article, we address this issue by developing an exact method, which uses the deductive power of satisfiability solvers to verify whether a CP-based defense thwarts the execution of an attack. We demonstrate the usefulness of the proposed method by showcasing two applications on practical bioassays: 1) security analysis of various checkpointing strategies and 2) derivation of a counterexample-guided fool-proof secure CP scheme.

The Aim of the project is to communicate through Black spot, Black spot is the area where the signal is not found. From the black spot transmission or receiving of information is difficult. Here the project is useful to create a signal and to transmit message. This project mainly useful at the places with no signal like Forests, Hill Stations, Islands, Sea. To communicate in emergency cases this project will help us. To build the communication between the Black spot and remote area we are using LoRa technology. The Project is mainly consisting of LoRa Modules, Transmitter and Receiver. LoRa stands as Long Range that means the communication range is Large and works on the low power consumption. In communication system the range plays the major role. LoRa helps for the Long-range network. Two embedded developed boards are included in this project. The first is having Raspberry Pi and LoRa transmitter and the board is placed at black spot area. We connect a keypad to the board. The second board is having LoRa receiver, controller and GSM module, this board is placed at the remote area. Remote area is nothing but the signals are present. GSM is arranged to transmit the message to the specified mobile. Whenever we wish to transmit the message, we text the matter using the keypad at Transmitter board, The LoRa transmits the data to the reception board. GSM passes the passes the information to the Active center, if there is any emergency at that places, they can communicate with active center and the active center can reach them fast and easily.

Major electrical gadgets are moving towards energy-efficient designs. Ceiling Fans are one of the prime focuses of such electrical gadgets. This article discusses and reviews about the past, present and future scenarios of the ceiling fans. The review includes different electric motors used in this application with its electromagnetic designs, controller developments, and mechanical designs, including Computational Fluid Dynamics (CFD) and blade structures. Present-day energy-efficient fans with their technical and performance indices are extensively discussed as a case study. In this work novel innovations are concerned for the future development of the ceiling fans. The highlights of the article: 1. The fan is one of the potential energy consumption application globally. 2. Reducing the power consumption of these fans leads to lowering the carbon-di-oxide emissions 3. A comprehensive review has been done on ceiling fans for the first time - terms of their electrical and mechanical structures. 4. Currently, available Energy efficiency fans are discussed in details with its performance. 5. Future scope to reduce power consumption is highlighted in the conclusion section.

The bedridden and physically disabled person is unable to move from their bed and they need a caretaker to take care of them or to assist them in this work. They are in the situation of spending more money on the caretaker. Thus, a design solution is proposed to help bedridden patients in their defecation activities. This design helps people, by giving them ease to pass their excreta by sitting on a specially designed bed. The control of the machine lies with the person lying on the bed. On switching ON the machine, the headrest rises and the leg rest lowers. This gives a sitting comfortable position for the patient to carry out the defecation. Along with that movement, the door on the bed opens and the basin set-up fixed under the cot moves sideward till it covers the bed opening. After the completion of the process, the person confirms and makes the next move by pressing the actuation button. When it is pressed, the flush is done and the waste is then transferred to the outlet which is connected to the toilet drainage. The machine has an inlet where the water supply enters the basin. After the flushing of the toilet, a forced water supply from the machine sprays the water to clean the patient’s back. The whole mechanisms are to be controlled by an Arduino controller board and limit switches.

The rapid growth of technology meant an increase in the quality of life. As engineers we need to think of new, unique projects by building a robots that will improve the quality and safety of our daily lives. In this paper we present Cost Oriented Autonomous Window Cleaning Robot from Mechatronic Scrap - MechCleanBot, which can be used not only in household but can also be used for skyscraper, offices, various objects, thus cleaning the windows without effort, without getting tired and in many cases without endangering the life of anyone. The moment the robot is placed on the window it will start cleaning the window through the Bluetooth RC Controller application which is taken on the smartphone in advance and through the same application we will be able to control MechCleanBot to clean the window without moving from place at all. All this will be possible through the Bluetooth module HC-06 which is designed for transparent wireless communication which reaches a distance of up to 9 meters. For the realization of this MechCleanBot are used: Arduino Uno R3, Bluetooth HC-06, Gear motors, Motor Shield L298, Neobidium Magnet, Resistor, Servo motor SG9, as well as Transistor IRFZ44N. MechCleanBot is the idea of a compact robot which is able to clean the windows of a house or a building, is quite attractive, so main goal has been the realization of robot which is able to clean windows but also a main goal was to be realized the robot with minimal costs of 16.06 euro, in order to be practical, to reuse e-waste and in same time to recycle, to be easy to use, and to be cost effective.

Every shopping malls are bulk consumers, they are spending huge amount for their electricity bills in every month. Maximum demand also make a major part of electricity bills. The classic maximum demand controller will operate based on demand value and results on/off the non-critical loads. The non-critical loads are connected in single channel. In shopping malls parking area maximum plug in electrical vehicles are act as a major loads. The proposed Internet of Things based Maximum demand controller will operate the each plug in electrical vehicle sockets based on the State of charge. Proposed system results avoid unnecessary shut off of non critical loads like Air conditioner system. The exclusive microcontroller do all the functions.

This paper presents a complete procedure on prototyping using the FPGA of the STEMlab board and is intended to serve as a guide for developers, students and researchers interested in speeding up their projects and experiments. Due to the reconfigurability of its internal circuitry, being as simple as a code modification (using hardware description language), FPGA technology allows testing of several controller topologies and/or parameters without the need of any physical change at hardware. This feature allows a much faster development cycle of either commercial products or academic experiments. Besides the reconfigurability of the FPGA, the STEMlab board also offers the advantage of several peripheral already available, which includes, among others, high speed analog-to-digital and digital-to-analog converters, Ethernet communication and a dual-core ARM processor capable of running a Linux operating system. In this paper, a didactic method of use of this board is presented, from getting started to a complete academic and industrial application: detection of early damage on an induction motor using frequency response analysis.

In the world today, home security is becoming necessary nowadays as the possibilities of intrusion are increasing day by day. This design adopts the idea of “Internet of Things close to life and easy to use” as a design concept, and builds a smart home system based on the internet of things. The modules included in this design include a getaway board module, a node module, and an APP module. The main functions realized are: the PC can display the temperature and humidity data collected by the node board through the browser and control the switch state of the LED Light of the control node board through the browser, and can also display the temperature and humidity data collected by the node board through an APP and control the switch state of the LED Light of the gusset plate. The communication between the PC and the node board and communication between an APP and the node board need to transfer through the gateway board, so the gateway board is the communication bridge of the whole system. In order to realize the role of the gateway board communication bridge, the design of the gateway board uses NPC’s LPC1769 as the master MCU. The system builds an Ethernet service controller by the LPC1769 embedded Ethernet module and DP83848 chip. Built a gateway system with the wifi module, NB-IOT module and W25Q128 memory chip. The software is based on the uC/OS-II real-time operating system, equipped with uIP protocol tasks and other task modules, and built into a webserver function.

Now a day with the major advancements in the field of vehicle automation, several dangerous and crucial counter terrorist activities is being handled by the sophisticated machines which are not only effective but also responsible for saving human lives. “Unmanned guided vehicle” is built to reduce human loss in terrorist attacks. The robot has been designed to face this attacks in the country. It is equipped with self-powered, radio operated and controller. A Wifi camera has been installed on it, in order to monitor the enemy activities whenever required. It is capable of entering into the enemy field silently there by sending us all the information regarding the enemy such as the weapons that were hold by them etc. This robot would be armed with an automatic weapon mounted onto a turret and a remote operator would be getting a live video feed from the camera to help him manually control both the above mentioned units of the rover. This spy robot can also be used in motels, shopping areas, jewellery show rooms, etc where there is more chance to terrorist’s attacks and robberies. Since human life is always precious, these robots are the replacement of fighters against terrorist in such areas.

In this article, an automated method based on the multivision and sensor collaboration is proposed to achieve the precision pose measurement of microdevice with a slice micropart embedded inside. This method consists of three modules. First, the invisible attitude component measurement module based on a laser range sensor and the top view is designed to acquire the initial attitude component determined by the inside slice micropart. Second, the attitude component measurement module based on the contour primitives of interest extraction method abbreviated as contour primitives of interest extraction (CPIE) is utilized to obtain the other attitude components by extracting features from images directly. Third, an attitude controller based on the multivision is presented to achieve automated attitude component restriction ensuring that an exact attitude can be obtained when occlusion occurred. A series of experiments including entire assembly experiments are conducted and experimental results reveal that the proposed methods are effective and the attitude error is less than 0.6° meeting the requirement of assembly.

This article presents a novel, low-cost, and smart design setup (plug and play) to measure the needle attachment force of surgical suture in order to check attachment quality and verify the surgical suture manufacturing standards. The proposed design uses a needle gripper, tactile sensor, suture gripper (connected via motorized lead screw), and infrared (IR) sensor, which is mounted over a linear guide. The ends of surgical suture (comprising of needle and thread) are attached between needle gripper and suture gripper, respectively. The motorized suture gripper creates stress on the attachment point of needle and thread of surgical suture, whose force is measured by a tactile sensor followed by the application of Kalman filtering for precise estimation and (then) calibration. An IR sensor is used to track the suture gripper position to stay within the displacement limits and to obtain the characteristic force–position profile as well. In addition, the two interactive graphical interfaces (an OLED and LABVIEW-based installed on windows) are embedded on the device to feature a user-friendly interface. Moreover, for quick documentation and record, the thermal printer is installed inside the setup, which provides the time-stamped summary of different sutures being tested. Both the sensors, force filtering, OLED, and thermal printer are communicated by an advanced ATmega2560 controller. In order to validate the significance of the proposed design setup, Solidworks simulation for motion study is conducted, real experimental measurements of pull and destructive forces for different gauges of sutures are performed and verified with standards, and comparisons with other relevant devices/approaches in terms of being cost-effective and showing optimized methodology are also presented.

Field-programmable gate arrays (FPGAs) and, recently, System on Chip (SoC) devices have been applied in a wide area of applications due to their flexibility for real-time implementations, increasing the processing capability on hardware as well as the speed of processing information in real-time. The most important applications based on FPGA/SoC devices are focused on signal/image processing, Internet of Things (IoT) technology, artificial intelligence (AI) algorithms, energy systems applications, automatic control and industrial applications. This paper develops a robot arm controller based on a programmable System-OnChip (SoC) device that combines the high-performance and flexibility of a CPU and the processing power of an FPGA. The CPU consists of a dual-core ARM processor that handles algorithm calculations, motion planning and manages communication and data manipulation. FPGA is mainly used to generate signals to control servo and read the feedback signals from encoders. Data from the ARM processor is transferred to the programmable logic side via the AXI protocol. This combination delivers superior parallel-processing and computing power, real-time performance and versatile connectivity. Additionally, having the complete controller on a single chip allows the hardware design to be simpler, more reliable, and less expensive.

UIDB/00066/2020 The emergence of the Internet of Things concept has provided a great vision for the technological future, intending to enable the extraction and comprehension of information from the environment around us, making use of the interaction and cooperation between several technological devices. The example of Smart Homes, in particular, aims to integrate these devices into households, enabling the automation of tasks previously performed by humans, to simplify their daily lives and create a more comfortable environment. However, many of these devices fail to keep their promise, since they were not developed taking into account the frequent change of habits and tastes of the user, being necessary reprogramming of the device to follow the new behaviors. Taking this problem into account, this article presents the design and end-to-end implementation of a voice-activated smart home controller for intelligent devices, deployed in a real environment and validated in an experimental setup of motorized blinds. The architecture of the proposed solution integrates evolvable intelligence with the use of an Online Learning framework, enabling it to automatically adapt to the user's habits and behavioral patterns. The results obtained from the various evaluation tests provide a validation of the operation and usefulness of the developed system. The main contributions of this work are: I) design of a smart home controller's architecture; II) end-to-end implementation of a smart home controller and respective guidelines; III) open-source dataset of user behavior from the smart blinds scenario; IV) comparison between Online and Offline Learning approaches. publishersversion published

With the development of airdrop technology, the intelligence degree of unmanned powered parachute vehicles (UPPVs) need to be improved. To achieve the accurate landing of UPPVs in complex environments, a landing runway recognition model based on a deep learning algorithm is trained and five actual flight tests are conducted. A six-degree-of-freedom (6-DOF) mathematical model of an unmanned powered parachute vehicle is established, and a landing runway offset controller is designed. The lightweight landing runway recognition model was trained by combining the YOLOv4 framework and the lightweight neural network MobileNet-V3 (Large) and validated in various scenarios. The runway recognition model was transplanted into the airborne image processor, and an unmanned powered parachute vehicle test platform was built for actual flight testing. The test results showed that the comprehensive accuracy of the runway recognition was 97.81% during visual landing and the offset correction was completed within 15s.

This work presents a real-time 100Base-TX Ethernet physical layer (PHY) transceiver chip implemented in a 180-nm technology. The PHY chip implements highly accurate hardware timestamping by using an 8-bit digital-to-phase converter (DPC) generating 256 phases of the 125 MHz system clock. Using these clock phases, spaced 31.25 ps apart from each other, phase relationships can be evaluated to timestamp ingress and egress frames with improved resolution. Connected by up to 120-m-long category five unshielded twisted-pair cables, two of these PHY chips are used to demonstrate the synchronization in a two-node scenario. A proportional–integral (PI)-clock servo is used at the slave for the synchronization. To optimize the performance, the parameters of the controller need to be chosen carefully. To do so, a simple model is used to find a suitable bandwidth of the controller as a tradeoff between the noise of the timestamping and the noise of the oscillator. All in all, a synchronization accuracy with a standard deviation of only 64 ps and a mean offset of well below 100 ps is achieved in the given scenario. To the best of our knowledge, this is the highest synchronization accuracy over copper-based Ethernet reported to date.

The ability to detect elephant flows in the forwarding device itself, i.e., a switch, facilitates the deployment of new advanced applications such as load-balancing, per-flow QoS management, etc. Sketches and Space Saving summarization techniques are used for elephant flow detection. However, their memory and computing requirements force the cooperation of an external controller device, due to the scarce resources of current programmable switches. To overcome this limitation, we adapt Sketch and Space Saving elephant flow detection techniques to operate with instant notification and sampled traffic. We evaluate the performance of the resulting techniques with three real traffic traces. The use of sampling allows the identification of a large share of the total traffic corresponding to the elephant flows with a low memory footprint and a reduction of the computing requirements in two orders of magnitude compared to unsampled versions. In turn, we observe a slight increase in the number of false positives and the number of flow notifications. The work of Alberto García-Martínez and Marcelo Bagnulo was supported by the TRUE5G Project ('Evolución hacia redes y servicios auto-gestionados para el 5G del futuro') by the Spanish National Research Agency under Grant PID2019-108713RB-C52/AEI/10.13039/501100011033.

We present a memory-based model for context- dependent semantic parsing. Previous approaches focus on enabling the decoder to copy or modify the parse from the previous utterance, assuming there is a dependency between the current and previous parses. In this work, we propose to represent contextual information using an external memory. We learn a context memory controller that manages the memory by maintaining the cumulative meaning of sequential user utterances. We evaluate our approach on three semantic parsing benchmarks. Experimental results show that our model can better process context-dependent information and demonstrates improved performance without using task-specific decoders.

This study proposes a heterogeneous modular reconfigurable robot called SABER (short for Step, Assembler, and Bridge Explorer Robot) that is suitable for future autonomous extraterrestrial missions. SABER comprises a platform and a reconfigurable rail and can operate in monowheel, rail trolley, and manipulator configurations. The monowheel configuration provides locomotion at a top speed of 10 km/h. The rail trolley configuration allows the robot to traverse gaps whose length is greater than its wheel diameter, climb steps whose height is no taller than the wheel radius, and pass through passages narrower than the wheel diameter. The manipulator configuration enables the robot to manipulate objects using two robotic arms with changeable tools. This design allows several SABERs to work as a team to enlarge their working area or enhance their mechanical capabilities. As such, SABERs can undertake various tasks in extraterrestrial missions, including exploration, outpost building and equipment maintenance. The key feature of the SABER is its mechanical transmission that allows its platform to move rapidly along a rail made from the manipulators of the robot. We also formulated the novel concept of a jamming safety diagram that is used to determine controller precision requirements to prevent the transmission from jamming. Finally, a new positioning controller meeting those requirements was introduced and implemented as field-programmable-gate-array firmware that is compatible with a wide range of low-cost integrated circuits. In numerical simulations, we evaluated SABER with respect to its speed, acceleration, oscillation, and ability to negotiate gaps and steps; SABER performed as well as or better than existing autonomous mobile robots and modular reconfigurable robots.

This work discusses the accomplishment of a path-following task by a formation of an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV). The idea behind such an application is that the UAV is returning after delivering a package, and should land on the UGV, its reference base, which continues following its route towards another delivery. A high level controller based on the virtual structure paradigm is designed to guide the formation, which also includes an obstacle avoidance algorithm to handle the possibility that the UGV, the reference for the formation, faces an obstacle in its path, such as another vehicle, for instance. After describing in details the controller designed and the obstacle avoidance algorithm, simulated and experimental results are shown and discussed, which validate the proposed controller.

Electronic equipment made using old technology or electronic equipment in the entry-level category has not been supported by networking equipment, so for the data communication process, the microcontroller requires interfacing facilities that are in accordance with the electronic equipment used, such as a USB port. With the microcontroller that supports IoT, it allows electronic equipment to communicate over the network. An IoT microcontroller such as the ESP32 is equipped with a WiFi feature but is not equipped with a USB controller feature, while the USB Host max3421e supports the communication process using SPI, so that those two microcontrollers can be used to form an interface using the SPI bus. This interface can be applied to electronic equipment with old technology and entry level electronic equipment for wireless communication. For the needs of making an interface between the ESP32 and max3421e, a software was developed by analyzing the SPI features of the ESP32 and the USB protocol according to the USB device state diagram. The results obtained are the handshake process between systems developed with USB devices in the Low-Speed ​​and Full-Speed ​​categories such as printers, flashdisk, bluetooth mouse and external hard disk, and the device descriptor data of each device tested can be read properly.

This work presents the design and construction of an SMS-based unlocker system that will allow users to lock or unlock a specific door without using the conventional method. The chief component used in the design of this device is the Atmega328 microcontroller (IC1). The device was designed in modules that include the system power supply unit, microcontroller unit, PIR motion sensor, and GSM SIM900 module. These discrete parts or components on their own are made up of smaller components. The different modules were put together in a particular pattern to form the circuit design. SMS from the authorized user’s mobile phone enables the Arduino controller to automatically unlock the security door when necessary. Basically, it reads the SMS and acts according to the message command, hence allowing the authorized owner to remotely control the door from anywhere using a mobile phone and preventing unauthorized access to the door. The GSM based door unlocking system constructed worked effectively when tested in homes and office doors and is thus recommended in every home for security purposes.

In the process of cutting large aircraft parts, the tool may be abnormally worn or damaged due to various factors such as mechanical vibration, disturbances such as chips, and physical properties of the workpiece, which may result in deterioration of the surface quality of the workpiece. Because workpieces used for large aircrafts parts are expensive and require strict processing quality, a maintenance plan is required to minimize the deterioration of the workpiece quality that can be caused by unexpected abnormalities of the tool and take maintenance measures at an earlier stage that does not adversely affect the machining. In this paper, we propose a method to indirectly monitor the tool condition that can affect the machining quality of large aircraft parts through real-time monitoring of the current signal applied to the spindle motor during machining by comparing whether the monitored current shows an abnormal pattern during actual machining by using this as a reference pattern. First, 30 types of tools are used for machining large aircraft parts, and three tools with relatively frequent breakages among these tools were selected as monitoring targets by reflecting the opinions of processing experts in the field. Second, when creating the CNC machining program, the M code, which is a CNC auxiliary function, is inserted at the starting and ending positions of the tool to be monitored using the editing tool, so that monitoring start and end times can be notified. Third, the monitoring program was run with the M code signal notified from the CNC controller by using the DAQ (Data Acquisition) device, and the machine learning algorithms for detecting abnormality of the current signal received in real time could be used to determine whether there was an abnormality. Fourth, through the implementation of the prototype system, the feasibility of the method proposed in this paper was shown and verified through an actual example.

Os sensores são um dos pilares da tecnologia contemporânea. Suas aplicações são inúmeras para diferentes campos. Assim, torna-se indispensável o desenvolvimento de sensores e métodos de comunicação entre dispositivos, bem como equipamentos de controle. Este trabalho propôs um sistema para detecção em fase gasosa de gás liquefeito de petróleo (GLP) em mistura com ar, utilizando um aparato experimental formado por elemento sensor de gás, controlador de temperatura e uma placa Arduino equipada com um transmissor de dados sem fio Zigbee. O trabalho envolveu a área de química e computação para atingir desde o desenvolvimento do elemento sensor a base de SnO2 até a instrumentação, apresentando assim a preparação da suspensão coloidal, deposição e tratamento térmico do filme, a montagem do sistema de mistura de gases e sistema de aquecimento do elemento sensor, os acoplamentos do microcontrolador para transmissão de dados através de dispositivos Zigbee, a elaboração e construção do circuito eletrônico, bem como a caracterização do filme de óxido e as medidas de sensor em atmosfera de mistura gasosa envolvendo ar e GLP. Um microcomputador, utilizando um programa escrito em linguagem Python, armazenou os dados, condicionados por um microcontrolador, recebidos por meio de rede sem fio Zigbee. Além dos resultados técnicos para o sensor desenvolvido com sensibilidade dentro dos limites de inflamabilidade da mistura ar e GLP, o trabalho permite concluir que o envolvimento de áreas relacionadas permite o desenvolvimento de trabalhos amplos envolvendo desde a elaboração até a instrumentação de sensor.

Problem statement. A programmable logic controller is a key tool for automating technological processes and production in the energy sector, transport infrastructure, industry, agriculture, housing and communal services. In the article the development of a programmable logic controller based entirely on domestic hardware components is considered.Objective. To offer circuit solutions that allow developing a programmable logic controller using domestic hardware components exclusively.Results. Schematic solutions and achieved technical parameters of programmable logic controller are presented. The controller was developed entirely on the domestic element base at the enterprise JSC “Avangard” (St. Petersburg). The parameters of the controller correspond to the main indicators of the technical assignment for its development during the implementation of the Comprehensive Project under the State Program of the Ministry of Industry and Trade of the Russian Federation.Practical implications. Production of programmable logic controllers based on the domestic hardware components exclusively solves the national goal of import substitution of devices of this class.

The fish feed spreader machine is a feeding tool that is made to facilitate fish breeders in feeding fish. The fish feed spreader is specially programmed to provide fish feed according to the schedule and the desired dose. The purpose of making this tool is to design a fish feed spreader machine based on the logic controller programmale, and to test the performance of the designed fish feed spreader machine. The results showed that the average feed expenditure was 2.66 kg for a duration of 40 seconds. Then for the farthest throw of feed is 7.5 meters, while for throw of feed that is evenly distributed it has a distance of 5 meters with a spread width of 5.85 meters, and the angle of spread of feed is 90º.

This research is a study about attributes of audit quality. The purpose of this research is to re-examine the effect of attributes of audit quality to client satisfaction as Bhen et al (1997). This research conducted with survey on perception of financial managers or controller, that distributed by mail survey to 100 financial manager of banking in Medan City. Unit analysis are the financial managers or controller of banking. There are fifty five questionaires (55%) received and analyzed by Ordinari Least Square supported by SPSS 10.00 program. The results showed that some of attributes of audit quality effected client satisfaction. The results showed that there were some different result between this study and Bhen et al. (1997).

This study aimed to design and build an Atmega Microcontroller 2560 based safety system on a monitor panel and a controller on a small excavator. Atmega 2560 Microcontroller-based alarm technology is the right choice as a solution to prevent theft of monitor panels and controllers on small excavator units, using Passive Infra-Red (PIR) sensor number 1 in the cabin room, PIR sensor number 2 on the battery, and door switch that is between the cabin and the door, if there is theft in the cabin room, then the alarm will be active, if a theft occurs in the battery then the alarm will be active. The alarm indicator system uses a buzzer (horn) unit, and there is additional lighting in the cabin room with a 24V Light Emitting Diode (LED) lamp if the alarm is active. Using an alarm, the risk of losing the monitor panel and controller due to theft on the unit can be prevented. The study results showed that the tool could work appropriately according to the standard testing tool, PIR sensors number 1 and 2 could detect movement or radiation so that the alarm would be active for 15 seconds. The door switch was tested by looking at the alarm condition, if the cabin door were closed when it was in the locked position, the alarm would not be active, but if the door was locked and forcibly opened, then the alarm would be active continuously without stopping until the door was closed again.

Nowadays an increasing number of industries are considering moving toward being Industry 4.0 compliant. But this transition is not straightforward: Transfer to new system can lead to significant production downtime, resulting in delays and cost overruns. The best way is systematic seamless transition to newer and advanced technologies that Industry 4.0 offers. This article proposes a framework based on automatic synthesis methods that learns the behavior of an existing legacy programmable logic controller (PLC) and generates state machines that can be incorporated into IEC 61499 function blocks. Proposed algorithms are based on Boolean satisfiability (SAT) solvers. The first algorithm accepts a set of noisy PLC traces and produces a set of candidate state machines that satisfy the traces. The second algorithm accepts error-free traces and synthesizes a modular controller that may be distributed across several physical devices. The toolchain architecture is exemplified on a laboratory scale Festo mechatronic system.

With the separation of design and manufacture in semiconductor industry, self-designed circuits are exposed to hardware Trojan attacks when they are outsourced to an untrustworthy foundry. Trojans activated by digital logic have gained extensive attention. However, those with analog trigger component remain as a serious issue such as the A2 Trojan. Existing defense against A2 Trojans mainly relies on runtime detection mechanism which needs large monitor hardware overhead and complicated identification/handling software. To address these limitations, this article proposes a built-in structure to accelerate the activation of A2 Trojans, which consists of several composite-logic ring oscillators and a multiple-purpose controller. In addition, two post-fabrication detection schemes named time-division mode-switching (TDMS) and scan-based fault test compatible (SFTC) are proposed. TDMS detection scheme can discover A2 Trojans when running functional patterns by inserting oscillating operations every other cycle. SFTC detection scheme can detect A2 Trojans during scan-based fault test by introducing oscillation before each capture operation. Evaluations across a wide range of A2 Trojans and benchmarks show that our proposal is more power-efficient and area-saving compared with existing monitor structure.

This article aims to present a technique to enhance reliability of liquefied natural gas (LNG) fuel gas supply system (FGSS) of gas turbine unit in a combined-cycle power plant. In order to prevent unplanned plant shutdowns, the proposed technique is based on the use of failure modes, effects, and diagnostic analysis (FMEDA) to identify and evaluate the effects of possible failure modes, to determine what could minimize the chance of failures, and to design a new safety interlock. The studied FGSS consists of gas analytical system (GAS) in 2-out-of-2 voting scheme, shutdown valve system (SDV) in 1-out-of-2 voting scheme, fuel gas controller (FGC), and engineering/operator workstations. Two automatic GAS subsystems with different measurement methods are installed in the GAS. One of two GAS subsystems uses three gas chromatography analyzers in 2-out-of-3 voting scheme. The gas chromatography results and diagnostic alarm historian are utilized to consider the failure behavior. The reliability models for the GAS subsystem using gas chromatography and the overall FGSS are also included to confirm the effectiveness of utilizing diagnostic information from the gas analyzers. Based on the FMEDA results, the new safety interlock with no additional software and hardware costs can be achieved. The workability of the proposed safety interlock is demonstrated by test results.

This article concerns the problem of improving ride comfort of a full-vehicle active suspension system through an observer-based decentralized event-triggered $H_{\infty }$ controller. The observer-based controller is adopted to cope with the situation that states information of vehicles are not available. To reduce the observer-based controller computing frequency, a decentralized event-triggered data transmission scheme is provided, and lower bounds on the minimum interevent time are guaranteed. Based on the proposed controller, the $H_\infty$ performance of an active full-vehicle suspension system can be obtained. Finally, simulations in the bump and random road conditions are shown to demonstrate the effectiveness of the derived algorithm.