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Prescribed Performance Control of Mobile Wheeled Inverted Pendulum Systems under Arbitrary Initial Conditions 8

Prescribed Performance Control of Mobile Wheeled Inverted Pe...

引用

8th IEEE international conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Mengshi Cao, Yu Yang, Bo Huang, Jian School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute ShenZhen518060 China

ISBN: (纸本)9798350300178

Mobile wheeled inverted pendulum (MWIP) is a typical naturally unstable underactuated system and it is very necessary to constrain its transient response to improve the overall safety. Prescribed performance control (PPC) is an effective method, however the system initial conditions are usually required to be known and constraint, otherwise it can lead to singularity problems. In practical systems, it is often difficult to obtain the exact initial state leading to limitations in the application of PPC. To overcome this issue, this paper presented a composite error transformation function to address the problem of initial condition dependence. A continuous bounded function was designed to compress the arbitrary initial error into the predefined bound to avoid singularities. After a set time, it was degraded to an original system error. Based on this composite transformation, a state feedback controller was proposed for the underactuated MWIP system to achieve the constraint outputs. then, by employing the Lyapunov theorem, it was guaranteed that the closed-loop system would remain stable. Various numerical simulations under different initial conditions were carried out to prove the validity of the proposed controller. © 2023 IEEE.

关键词： Closed loop systems

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Advanced Stochastic Approaches for applied Computing in Environmental Modeling 14th

Advanced Stochastic Approaches for Applied Computing in En...

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14th international conference on parallel processing and applied mathematics, PPAM 2022

作者： Todorov, Venelin Dimov, Ivan Ganzha, Maria Paprzycki, Marcin Department of Information Modeling Institute of Mathematics and Informatics Bulgarian Academy of Sciences Acad. Georgi Bonchev Street Block 8 Sofia1113 Bulgaria Department of Parallel Algorithms Institute of Information and Communication Technologies Bulgarian Academy of Sciences Acad. G. Bonchev Street Block 25 A Sofia1113 Bulgaria Polish Academy of Sciences Warszawa Poland

ISBN: (纸本)9783031304415

Mathematical models are used to study and predict the behavior of a variety of complex systems - engineering, physical, economic, social, environmental. Sensitivity studies are nowadays applied to some of the most complicated mathematical models from various intensively developing areas of applications. Sensitivity analysis is a modern promising technique for studying large-scale systems such as ecological systems. the uncertainty in the model input in our case, as in many others, can be due to various reasons: inaccurate measurements or calculation, approximation, data compression, etc. Two kinds of sensitivity analysis have been discussed in the literature: local and global. In the current paper the subject of our study is the global sensitivity analysis performed via the Sobol’ variance-based approach, applied to a specific large-scale air pollution model. the mathematical treatment of the problem of providing global sensitivity analysis consists in evaluating total sensitivity indices which leads to computing multidimensional integrals. We propose a new specific stochastic approach which significantly improves the results by the standard stochastic approaches. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Monte Carlo methods

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Exploring Techniques for the Analysis of Spontaneous Asynchronicity in MPI-parallel Applications 14th

Exploring Techniques for the Analysis of Spontaneous Asyn...

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14th international conference on parallel processing and applied mathematics, PPAM 2022

作者： Afzal, Ayesha Hager, Georg Wellein, Gerhard Markidis, Stefano Erlangen91058 Germany Department of Computer Science University of Erlangen-Nürnberg Erlangen91058 Germany Department of Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden

ISBN: (纸本)9783031304415

this paper studies the utility of using data analytics and machine learning techniques for identifying, classifying, and characterizing the dynamics of large-scale parallel (MPI) programs. To this end, we run microbenchmarks and realistic proxy applications with the regular compute-communicate structure on two different supercomputing platforms and choose the per-process performance and MPI time per time step as relevant observables. Using principal component analysis, clustering techniques, correlation functions, and a new "phase space plot," we show how desynchronization patterns (or lack thereof) can be readily identified from a data set that is much smaller than a full MPI trace. Our methods also lead the way towards a more general classification of parallel program dynamics. © 2023, the Author(s).

关键词： Data Analytics

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Transparent Slide Detection and Gripper Design for Slide Transport by Robotic Arm 22

Transparent Slide Detection and Gripper Design for Slide Tra...

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IEEE Joint 22nd international Symposium on Computational Intelligence and Informatics / 8th IEEE international conference on Recent Achievements in Mechatronics, Automation, Computer Science and Robotics (CINTI-MACRo)

作者： Kucarov, Marianna Dimitrova Takacs, Matyas Molnar, Bela Kozlovszky, Miklos BioTech Doctoral Sch Appl Informat & Appl Math Budapest Hungary Obuda Univ Doctoral Sch Appl Informat & Appl Math Budapest Hungary 3DHistech Ltd Doctoral Sch Appl Informat & Appl Math Budapest Hungary 3DHistech Ltd Univ Res & Innovat Ctr EKIK Budapest Hungary Obuda Univ Univ Res & Innovat Ctr EKIK Budapest Hungary 3DHistech Ltd Budapest Hungary Obuda Univ John von Neumann Fac Informat Budapest Hungary

ISBN: (纸本)9798350398823

Transparent slide detection, pick and place automation are obtained in order to boost speed, accuracy and smooth workflow between slide coverslipping and digital scanning operation in digital pathology. Fully automatic, precise, robust solution has been developed by robotic arm using computer vision and image processing techniques. Magazine (slide holder) and gripper design, camera selection and mapping to robot base coordinate system are all guided. Python based software algorithms for slide detection and 3D position determination applied in dynamically changeable environment are also explained step by step. Complete automatic process control method is implemented and tested for different types of slide.

关键词： Digital Pathology Transparent Slide Detection 3D position Computer vision Image processing Robot Automation

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A Novel parallel Approach for Modeling the Dynamics of Aerodynamically Interacting Particles in Turbulent Flows 14th

A Novel Parallel Approach for Modeling the Dynamics of Ae...

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14th international conference on parallel processing and applied mathematics, PPAM 2022

作者： Ababaei, Ahmad Michel, Antoine Rosa, Bogdan Institute of Meteorology and Water Management – National Research Institute Podleśna 61 Warsaw01-673 Poland Department of Applied Mathematics Warsaw University of Life Sciences Nowoursynowska 159 Warsaw02-776 Poland

ISBN: (纸本)9783031304415

In this paper, the computational performance of a novel parallel code for simulating collision–coalescence of aerodynamically interacting droplets in turbulent flows is examined. Modeling such systems is essential for the quantitative description of processes relevant to precipitation formation. this knowledge, in turn, is crucial to develop more realistic parameterizations in numerical weather forecasting systems. the code is based on the standard Eulerian–Lagrangian approach. Direct numerical simulations (DNS) to solve the homogeneous isotropic turbulence are combined with analytical solutions of the Stokes flow to account for aerodynamic interaction (AI) among particles. Also, short-range interaction, the so-called lubrication forces, between particles is incorporated into the algorithm to improve the AI representation. the cubic computational domain is decomposed into smaller subdomains where calculations are handled by different processes. the Message Passing Interface (MPI) library is employed to transfer particle and flow data. this hybrid DNS (HDNS) algorithm enables tracking millions of interacting droplets in turbulent flows simulated on high-resolution meshes. the performance is evaluated by measuring the wall-clock time of major numerical operations. the results compare the time for treating AI, measured separately for long- and short-range forces, with the time required for the other particle operations as well as the time to advance the turbulent flow field. the effects of the number and size of the particles, the range of AI, and the number of processors are examined. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Turbulence

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Design and Research of parallel Image Information processing Platform Based on VPX: In this paper, the network topology of the VPX bus standard is studied, and the author proposes and implements a more efficient way 22

Design and Research of Parallel Image Information Processing...

引用

8th international conference on Computing and Artificial Intelligence, ICCAI 2022

作者： Gen, Wang Qing-Shan, Liu Hai-Yang, Zhou Na, Wan Lin, Ren Ying-Xue, Li Jie, Zhou Guang, Yang Beijing Institute of Radio Metrology and Measurement China

ISBN: (纸本)9781450396110

Digital signal processing theory maturing, increasing the amount of signal processing algorithms, data processing algorithms become more complex, resulting in the past restricted the kind of hardware platform program performance, high flexibility, high real-time and high data throughput application. therefore, a large-scale parallel platform with high real-time, high precision and high data throughput is necessary. this paper presents a highly flexible, large amount of data and high-performance parallel network processing platform based on VPX standard. the designer developed a parallel image information processing platform based on this architecture. this solution aims to dynamically reconstruct different message channels through the VPX switch module to reduce the complexity and cost of the platform. © 2022 ACM.

关键词： Network topology

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Control Selection Based on State Change of Chaotic System 8

Control Selection Based on State Change of Chaotic System

引用

8th IEEE international conference on Computer and Communications, ICCC 2022

作者： Zhou, Jiaxi Zhang, Wei Feng, Yuming Onasanya, B.O. School of Electronics and Information Engineering Chongqing Three Gorges University Chongqing Wanzhou404100 China Chongqing Three Gorges University Key Laboratory of Intelligent Information Processing and Control Chongqing Wanzhou404100 China School of Three Gorges Artificial Intelligence Chongqing Three Gorges University Chongqing Wanzhou404100 China University of Ibadan Department of Mathematics Oyo State Ibadan200284 Nigeria

ISBN: (纸本)9781665450515

Considering that the system may need to meet more needs in the control process, that is, to accelerate or slow down the control intensity according to the system state, the control mode that combines the control cycle and the control method has a wider range of applications. In this paper, the model for state detection and judgment in the second half of the control cycle is studied, and appropriate measures are taken to achieve various control effects of the system. the simulation of the application example illustrates the effectiveness of the controller. © 2022 IEEE.

关键词： Chaotic systems

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Compact In-Memory Representation of Decision Trees in GPU-Accelerated Evolutionary Induction 14th

Compact In-Memory Representation of Decision Trees in GPU-...

引用

14th international conference on parallel processing and applied mathematics, PPAM 2022

作者： Jurczuk, Krzysztof Czajkowski, Marcin Kretowski, Marek Faculty of Computer Science Bialystok University of Technology Wiejska 45a Bialystok15-351 Poland

ISBN: (纸本)9783031304415

Decision trees (DTs) are popular techniques in the field of explainable machine learning. Traditionally, DTs are induced using a top-down greedy search that is usually fast;however, it may lead to sub-optimal solutions. Here, we deal with an alternative approach which is an evolutionary induction. It provides global exploration that results in less complex DTs but it is much more time-demanding. Various parallel computing approaches were considered, where GPU-based one seems to be the most efficient. To speed up the induction further, different GPU memory organization/layouts could be dealt with. In this paper, we introduce a compact in-memory representation of DTs. It is a one-dimensional array representation where links between parent and children tree nodes are explicitly stored next to the node data (testes in internal nodes, classes in leaves, etc.). On the other side, when the complete representation is applied, children positions are calculated based on the parent place. However, it needs a spacious one-dimensional array as if all DT levels would be completely filled, no matter if all nodes actually exist. Experimental validation is performed on real-life and artificial datasets with various sizes and dimensions. Results show that by using the compact representation not only the memory requirements are reduced but also the time of induction is decreased. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Graphics processing unit

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parallelism-Based Session Creation to Identify High-Level Activities in Event Log Abstraction 5th

Parallelism-Based Session Creation to Identify High-Level Ac...

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5th international conference on Process Mining (ICPM)

作者： Dogan, Onur De Leoni, Massimiliano Univ Padua Dept Math I-35121 Padua Italy Izmir Bakircay Univ Dept Management Informat Syst TR-35665 Izmir Turkiye

ISBN: (纸本)9783031561061;9783031561078

Process mining utilizes event data to gain insights into the execution of processes. While techniques are valuable, their effectiveness may be hindered when dealing with highly complex processes that have a vast number of variants. Additionally, because the recorded events in information systems are at a low-level, process mining techniques may not align with the higher-level concepts understood at the business level. Without abstracting event sequences to higher-level concepts, the outcomes of process mining, such as discovering a model, can become overly complex and challenging to interpret, rendering them less useful. Some research has been conducted on event abstraction, often requiring significant domain knowledge that may not be readily accessible. Alternatively, unsupervised abstraction techniques may yield less accurate results and rely on stronger assumptions. this paper introduces a technique that addresses the challenge of limited domain knowledge by utilizing a straightforward approach. the technique involves dividing traces into batch sessions, taking into account relationships between subsequent events. Each session is then abstracted as a single high-level activity execution. this abstraction process utilizes a combination of automatic clustering and visualization methods. the proposed technique was evaluated using a randomly generated process model with high variability. the results demonstrate the significant advantages of the proposed abstraction in effectively communicating accurate knowledge to stakeholders.

关键词： Event log abstraction parallel relationships Clustering Visual analytics Process discovery

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Computational Electromagnetics with the RBF-FD Method

Computational Electromagnetics with the RBF-FD Method

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international Multidisciplinary conference on Computer and Energy Science (SpliTech)

作者： Andrej Kolar-Požun Gregor Kosec Parallel and Distributed Systems Laboratory ’Jožef Stefan’ Institute Ljubljana Slovenia Faculty of Mathematics and Physics University of Ljubljana Ljubljana Slovenia

One of the most popular methods employed in computational electromagnetics is the Finite Difference Time Domain (FDTD) method. We introduce its generalisation to a meshless setting using the Radial Basis Function gene...

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