Face anti-spoofing is essential for ensuring the security of facial recognition systems against spoofing attacks. Recent methods have transferred Vision-Language models to face anti-spoofing (e.g., FLIP and CLIPC8), d...
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the paper proposes a new approach to distributed target assignment for a group of robots operating in a space with a circular obstacle. the simple approach of comparing functions of Cartesian distances, which works we...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the paper proposes a new approach to distributed target assignment for a group of robots operating in a space with a circular obstacle. the simple approach of comparing functions of Cartesian distances, which works well in free space, does not give good results if a static obstacle exists. the authors aimed to find an approach that is as computationally effective as possible and yet produces a sufficiently good result. the proposed solution makes use of city block distance expressed in a specific reference frame that depends on the mutual positioning of the robot, the target, and the obstacle. In addition to presenting the idea, the results of numerical simulations were given to confirm the effectiveness of the proposed algorithm.
In the paper, a set of new findings derived from the application of the nonunique $\sigma$-inverse into the generalized minimum variance control (GMVC) algorithm is given. In such a way, the robust instance of the dis...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
In the paper, a set of new findings derived from the application of the nonunique $\sigma$-inverse into the generalized minimum variance control (GMVC) algorithm is given. In such a way, the robust instance of the discussed control strategy is proposed strictly devoted to the right-invertible LTI systems defined in the discrete-time transfer-function-originated framework. the alternative inverse-based control procedure clearly outperforms the classical one giving rise to the introduction of the generalized $\sigma$-inverse rather than the Moore-Penrose (MP) one. Two numerical examples address a huge impact of the so-called degrees of freedom at least in the minimum-energy considerations.
Extended dynamic mode decomposition (EDMD), which is the data-driven method based on the Koopman operator approach, is one of the valuable methods when treating nonlinear dynamical systems. However, the accuracy of li...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
Extended dynamic mode decomposition (EDMD), which is the data-driven method based on the Koopman operator approach, is one of the valuable methods when treating nonlinear dynamical systems. However, the accuracy of linearization deteriorates when the technique is applied to a high-dimensional nonlinear dynamical system such as robots and flying vehicles. To overcome the problem, we propose the multilayer extended dynamic mode decomposition (MEDMD) for the high-dimensional nonlinear system divided into low-dimensional subsystems. the proposed method is applied to a mathematical system model that consists of subsystems in numerical simulation. the results show that MEDMD has good linear accuracy compared to conventional EDMD.
the article describes the development of the method for locating sources of radiated electromagnetic disturbances generated in the units of some specific class of mobile robots. In the analyzed case, the source of dis...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the article describes the development of the method for locating sources of radiated electromagnetic disturbances generated in the units of some specific class of mobile robots. In the analyzed case, the source of disturbances was a radiating slot, that has formed due to poor electromagnetic tightness of the housing, which caused a negative result of radiated emission tests. the slot was created artificially in the shielded housing in order to simulate the actual problem. the paper describes the testing method and the configuration and construction of the test stand for locating sources of disturbances using an EMC scanner placed in a dedicated EMC testing chamber with ferrite plates covering the walls inside.
the paper presents a new algorithm for the selection of poles for modeling fractional-order difference based on Takenaka-Malmquist functions. the main advantage of the proposed approach to the selection of poles is be...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the paper presents a new algorithm for the selection of poles for modeling fractional-order difference based on Takenaka-Malmquist functions. the main advantage of the proposed approach to the selection of poles is better approximation accuracy in the chosen frequency adequacy range as well as in the time domain of finite-length implementation of the Takenaka-Malmquist-base fractional-order difference. the proposed Takenaka-Malmquist-based difference implementation can also be applied to model fractional-order integrators and non-commensurate state-space systems.
Sliding mode control strategies are useful for counteracting unpredictable disturbance affecting the plant. However, they are not devoid of shortcomings, as they typically require full state information to calculate t...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
Sliding mode control strategies are useful for counteracting unpredictable disturbance affecting the plant. However, they are not devoid of shortcomings, as they typically require full state information to calculate the control signal. Moreover, such strategies are typically focused on the evolution of a virtual sliding variable and provide only indirect information about the actual state of the plant. Motivated by these issues, in this paper a new approach to sliding mode control of discrete time systems is proposed. this approach only requires information about the output of the plant to synthesize a robust control strategy. Furthermore, it is shown to guarantee boundedness of this output while the system is operating in the sliding phase.
the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unsta...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unstable end behavior. Such a problem can be modeled by a plate evolution equation, which is nonlinear with a nonlocal stretching effect in the spanwise direction. the external forces are periodic in time and cause the vortex shedding on the structure (on the surface of the plate) and thus it may cause damage to the material. Numerical study of the behavior of steady state solutions for different values of the force velocity are provided with two finite element methods of different type.
Touchless technologies have gained significant popularity, particularly amidst the COVID-19 pandemic, as they addressed concerns related to germ transmission and hygiene during human-device interactions. this study ai...
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A high roll rate can decrease the chance of the research-oriented rocket mission success. there is scant information about the effective roll-motion stabilizer solutions for sounding rockets. thus, a roll-motion stabi...
A high roll rate can decrease the chance of the research-oriented rocket mission success. there is scant information about the effective roll-motion stabilizer solutions for sounding rockets. thus, a roll-motion stabilizer for a sounding rocket using the active disturbance rejection control (ADRC) methodology is proposed. the presented roll-motion stabilizer is designed for a subsonic sounding rocket. An effectiveness of the designed control system was verified by simulations and experiments in a wind tunnel. Results of the verification show that the designed control system enables robust roll-motion stabilization despite large uncertainty of a rocket model. Practical guidelines for designing of the roll-motion stabilizer are provided.
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