Actuator Trajectory Planning for UAVs with Overhead Manipulator using Reinforcement Learning

In this paper, we investigate the operation of an aerial manipulator system, namely an Unmanned Aerial Vehicle (UAV) equipped with a controllable arm with two degrees of freedom to carry out actuation tasks on the fly. Our solution is based on employing a Q-learning method to control the trajectory of the tip of the arm, also called end-effector. More specifically, we develop a motion planning model based on Time To Collision (TTC), which enables a quadrotor UAV to navigate around obstacles while ensuring the manipulator's reachability. Additionally, we utilize a model-based Q-learning model to independently track and control the desired trajectory of the manipulator's end-effector, given an arbitrary baseline trajectory for the UAV platform. Such a combination enables a variety of actuation tasks such as high-altitude welding, structural monitoring and repair, battery replacement, gutter cleaning, skyscrapper cleaning, and power line maintenance in hard-to-reach and risky environments while retaining compatibility with flight control firmware. Our RL-based control mechanism results in a robust control strategy that can handle uncertainties in the motion of the UAV, offering promising performance. Specifically, our method achieves 92% accuracy in terms of average displacement error (i.e. the mean distance between the target and obtained trajectory points) using Q-learning with 15,000 episode

Mathematical modeling for SnO2 gas sensor based on second-order response

Sensors, work on the entrance gate for exploring dynamic environments and system response. The sensor behavior plays an important role in system modeling. Therefore, finding the mathematical model, which can describe the sensor response with maximum information over time in different environments and situations, is necessary. This paper, attempts to model the optimal transfer function of the SnO2 type gas sensor (TGS 813) for transient response and steady-state zones, based on the acquired data of the sensor. The model could be used to obtain the mathematical equation for the response, as a transfer function based on different concentrations, for the specific temperature and humidly. The data analysis has been done with Matlab software, and Genetic algorithm is further used to optimize the transfer function parameters. Moreover, the effect of variation in concentration on the transfer function coefficients has been explored. The results show that the modeling can be helpful for sensor response behavior simulation as well as physical and chemical reaction investigation

Immersive Horizons: Exploring the Transformative Power of Virtual Reality Across Economic Sectors

open access articleThe scholarly discourse surrounding the manifold advantages, applications, and limitations of implementing Virtual Reality (VR) in the contemporary milieu has burgeoned over time. VR holds immense potential, attracting fervent interest from governmental and private entities alike. Nevertheless, the existing body of literature pertaining to the expanding utilization of VR in diverse economic sectors remains scant. Therefore, the primary objective of this study is to furnish a comprehensive literature review encompassing VR applications across various economic domains while elucidating concerns surrounding its integration within engineering education. A total of 108 publications were extracted from prominent databases such as Scopus, Elsevier, Science Direct, and Google Scholar, with a subsequent review of 51 relevant works. These scrutinized journals were published between 2015 and 2022 and were predominantly authored in English. The reviewed publications encompassed VR applications in education, robotics, healthcare, transportation, sports, agriculture, governance, security, and media. The study’s findings unveiled significant advancements in VR implementation within engineering education, medical training, cognitive augmentation, aircraft assembly, governance, and diverse other spheres. Notwithstanding these achievements, impediments to VR deployment were identified, stemming from financial exigencies, cultural and conventional norms, with scant evidence of VR’s prevalence in underdeveloped nations, given that all the assessed research originated from developed economies. Additionally, the limitations of this review encompassed a small sample size and a narrowly focused demographic in the examined articles. Nevertheless, despite these constraints, the research highlights substantial progress in VR utilization over the preceding decade

Designing and developing a vision-based system to investigate the emotional effects of news on short sleep at noon: an experimental case study

Background: Sleep is a critical factor in maintaining good health, and its impact on various diseases has been recognized by scientists. Understanding sleep patterns and quality is crucial for investigating sleep-related disorders and their potential links to health conditions. The development of non-intrusive and contactless methods for analyzing sleep data is essential for accurate diagnosis and treatment. Methods: A novel system called the sleep visual analyzer (VSleep) was designed to analyze sleep movements and generate reports based on changes in body position angles. The system utilized camera data without requiring any physical contact with the body. A Python graphical user interface (GUI) section was developed to analyze body movements during sleep and present the data in an Excel format. To evaluate the effectiveness of the VSleep system, a case study was conducted. The participants' movements during daytime naps were recorded. The study also examined the impact of different types of news (positive, neutral, and negative) on sleep patterns. Results: The system successfully detected and recorded various angles formed by participants' bodies, providing detailed information about their sleep patterns. The results revealed distinct effects based on the news category, highlighting the potential impact of external factors on sleep quality and behaviors. Conclusions: The sleep visual analyzer (VSleep) demonstrated its efficacy in analyzing sleep-related data without the need for accessories. The VSleep system holds great potential for diagnosing and investigating sleep-related disorders. The proposed system is affordable, easy to use, portable, and a mobile application can be developed to perform the experiment and prepare the results

A new mathematical model for mapping indoor environment

This paper presents a mathematical model as a new approach to object mapping, the system is proscribed to indoor and applied to approach a landmark. The contribution of this paper is to propose a new mathematical model for object mapping, the landmark is captured at varying distant points, the Scale invariant Feature Transform (SIFT) to extract object options, at the side of their uncertainty, from camera sensors. The (SIFT) features are invariant to image scaling, translation, and rotation, and partially invariant to illumination changes and affine or 3D projection, which is suitable for our application. As image options do not seem to be noise-free, the error analysis of the landmark positions and a preprocessing to obtained information which is incorporated into a model, using curve fitting techniques. Predictions createdby our model square measure well and correlate with experimental knowledge. This has eliminated correspondence Problem also known as a data association problem

Implementation of the Simple Hyperchaotic Memristor Circuit with Attractor Evolution and Large-Scale Parameter Permission

A novel, simple, four-dimensional hyperchaotic memristor circuit consisting of two capacitors, an inductor and a magnetically controlled memristor is designed. Three parameters (a, b, c) are especially set as the research objects of the model through numerical simulation. It is found that the circuit not only exhibits a rich attractor evolution phenomenon, but also has large-scale parameter permission. At the same time, the spectral entropy complexity of the circuit is analyzed, and it is confirmed that the circuit contains a significant amount of dynamical behavior. By setting the internal parameters of the circuit to remain constant, a number of coexisting attractors are found under symmetric initial conditions. Then, the results of the attractor basin further confirm the coexisting attractor behavior and multiple stability. Finally, the simple memristor chaotic circuit is designed by the time-domain method with FPGA technology and the experimental results have the same phase trajectory as the numerical calculation results. Hyperchaos and broad parameter selection mean that the simple memristor model has more complex dynamic behavior, which can be widely used in the future, in areas such as secure communication, intelligent control and memory storage

Unity in Embedded System Design and Robotics: A Step-by-Step Guide

The first book of its kind, Unity in Embedded System Design and Robotics provides a step-by-step guide to Unity for embedded system design and robotics. It is an open gateway for anyone who wants to learn Unity through real projects and examples as well as a particularly useful aid for both professionals and students in the fields of embedded system design and robotics. Each chapter contains a unique project. The user is guided through the different windows and sections of Unity every step of the way. The book also includes projects that connect Unity to Arduino and Raspberry Pi, which will help readers better understand various Unity applications in the real world

Design And Development of Cost-Effective Exergames For Activity Incrementation

In the modern era of computing and mobile technology, the human lifestyle is affected by technology, and people are adopting habits that promote sedentary behaviour, including watching TV, playing video games, using computers, and mobile phones, leading to increased periods when people are not actively engaging in physical activity. The combination of Virtual reality and Exergame has been recently introduced and used, and this is a combination that this paper takes an interest in. This research paper shows the design and development of the Happy Child exergame, which, along with the design, the cost of the device has been taken into consideration to be more accessible to the public. Happy Child consists of a mobile application (APP), an Arduino board as the main processor which, with the two types of sensors (Accelerometer and temperature), will send the user data and the players BMI to the user personal computer and after playing each designed game which uses Unity to develop send back to Arduino and store on using the mobile phone. Happy child Design shows the successful implementation and its ability to use as the Exergame to increase people's activity

Gentle Survey on MIR Industrial Service Robots: Review & Design

open access journalService robots are one of the most critical robot's applications that enter human life. This domain consists of elements from human health to industry. Somehow, this robot type can save a human's life or help him secure from the load-carrying job and all repeated work that may interfere with job accuracy. Based on ISO 8373:2012 The service robots Split into personal service types of robots characteristically meant to use outside of manufacturing and the professional setting robots and professional service robots that can use as non-commercial individuals professional service robots can use as commercial professionals. Even as the service robot development research has shown various new service robots with specific ability proposed, some parts in these robot types are similar and are day by day extended. MIR and AGV robots are the most famous service robot with dual ability in the industry and the home applicant. This paper covers most of the papers published on the MIR platform to address the detailed design and part of these types, which can be useful for industries and researchers. The most significant thing that has been done through this review is a service robot design. On the other hand, the researcher has more investigation on the service robot application and has study the MIR Industrial/service robot platform