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ieee Transactions on Artificial intelligence 2023年第6期4卷 1666-1678页

作者： Wu, Huai-Ning Wang, Mi Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China

In this article, the leader's behavior learning problem is investigated for a class of leader-follower systems, where the leader's behavior is assumed not a priori known to all followers that are autonomous. A multiplayer nonzero-sum differential game is introduced to indicate the control interaction between agents, where the leader's behavior is modeled by an unknown cost function. The autonomous followers aim to retrieve the weighting matrix in the leader's cost function collaboratively. A distributed online adaptive inverse differential game (IDG) approach to the leader's behavior learning is proposed for the autonomous followers. Specifically, a concurrent learning based adaptive law and an interactive game controller are first developed for each autonomous follower to learn the leader's feedback gain matrix online, while the feedback Nash equilibrium of the game can be achieved. Then, a linear matrix inequality optimization problem is formulated to determine the weighting matrix of the leader's cost function for each autonomous follower. The proposed method simply requires that all followers share their interactive feedback gain matrices, not their private intents, and use only the system state data, not both the system state data and the leader's control input data. The main advantages of the proposed method are that it can be implemented online without requiring the persistent excitation condition and needs less computational power for all followers. Finally, numerical simulations are provided to demonstrate the effectiveness and feasibility of the developed method. © 2020 ieee.

关键词： Cost functions

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Nonlinear control of Crane Systems Based on intelligence Computing of Disturbance Observer Under Mismatched Disturbance 22

Nonlinear Control of Crane Systems Based on Intelligence Com...

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22nd ieee International symposium on Parallel and Distributed Processing with Applications, ISPA 2024

作者： Wang, Tianlei Wang, Yiyan Xu, Meng Tian, Jiajie Zhang, Jingling Hong, Zhiyong Wuyi University School of Electronic and Information Engineering Jiangmen China Jiangmen Key Laboratory of Kejie Semiconductor Bonding Technology and Control System Jiangmen China Wuyi University School of Mechanical and Automation Engineering Jiangmen China Guangdong Kejie Technology Co. Ltd Jiangmen529020 China

ISBN: (纸本)9798331509712

A control method based on disturbance observer is proposed to address the positioning drift issue of the gantry crane under unmatched disturbances, aiming at precise positioning of the trolley and effective payload swing angle attenuation in a variable-length two-dimensional lifting system. The control scheme comprises a combination of a proportional-derivative controller and a disturbance observer. Firstly, the design of the coupling function in this paper is based on the observation of the natural characteristics of the dynamical model. It cleverly designs the coupling function, which not only helps to effectively reduce the swing angle but also prevents the problem of positioning drift under non-matching disturbances, subsequently, design a controller by integrating intelligent computing with control theory. Secondly, the designed disturbance observer observes and compensates for the system output to achieve disturbance suppression. Thirdly, a thorough stability analysis has been conducted to demonstrate that the proposed controller satisfies the desired conditions. Finally, simulation results illustrate that the pro-posed method success-fully addresses the limitations of existing methods and exhibits superior performance and robustness. © 2024 ieee.

关键词： Gantry cranes

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Computer Vision in Automatic Visceral Leishmaniasis Diagnosis: a Survey

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ieee LATIN AMERICA TRANSACTIONS 2023年第2期21卷 310-319页

作者： Goncalves, Clesio de A. Borges, Armando L. Rodrigues, Anderson L. Andrade, Nathalia B. Lemos, Marcos V. de S. Aguiar, Bruno G. A. e Silva, Romuere R., V Fed Inst Sertao Pernambucano Informat Dept Picos Piaui Brazil UFPI Elect Engn PPGEE Picos Piaui Brazil UFPI Informat Syst CSHNB Picos Piaui Brazil Ctr Intelligence Emerging & Neglected Trop Dis CI Teresina Piaui Brazil Univ Estadual Piaui Comp Sci Dept Teresina Piaui Brazil Univ Fed Piaui Dept Community Med Teresina Piaui Brazil Ctr Intelligence Emerging & Neglected Trop Dis CI Picos Piaui Brazil

Visceral Leishmaniasis (VL) is a neglected disease that affects 1 billion people in tropical and subtropical countries. In Brazil, VL causes about 3,500 cases/year. Although this disease is lethal when left untreated, the number of cases is increasing. Thus, it is necessary to study current and safety technologies for VL diagnosis, treatment, and control. Specialized laboratories carry out the LV diagnosis, and this step has great automation power through automatic methods based on computer vision to aid in diagnosis. This work aims to present state-of-the-art research on computer vision techniques to detect VL in humans and provide a theoretical basis for developing computational systems to aid in diagnosing VL. This work's contributions are finding the methodologies and algorithms used in VL automatic detection and listing the gaps in developing those systems. As a result, we find out the lack of image databases and the use of deep learning techniques is still scarce. We conclude that methodologies that use the segmentation procedure perform better in terms of accuracy and that it is possible to develop a CAD system to help diagnose VL in humans.

关键词： Computer vision Microscopy Image segmentation Diseases ieee transactions Electrical engineering Deep learning Visceral Leishmaniasis Computer Vision Automatic Detection

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Efficient Energy Management: Exploring an Online Automated System for Electric Device control 18

Efficient Energy Management: Exploring an Online Automated S...

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18th International Joint symposium on Artificial intelligence and Natural Language Processing (ISAI-NLP) / 4th International Conference on Artificial intelligence and Internet of Things (AIoT)

作者： Nooyimsai, Saranpong Getpan, Sutaporn Krohkaew, Jaturapith Crisnapati, Padma Nyoman Thwe, Yamin Srion, Kanathip Rajamangala Univ Technol Srivijaya Dept Informat Technol Nakhon Si Thammarat Thailand Rajamangala Univ Technol Srivijaya Dept Ind Technol Nakhon Si Thammarat Thailand Rajamangala Univ Technol Thanyaburi Dept Big Data Management & Analyt Khlong Hok Pathum Thani Thailand STIKOM Bali Inst Technol & Business Dept Informat Syst Bali Indonesia Rajamangala Univ Technol Thanyaburi Dept Data & Informat Sci Khlong Hok Pathum Thani Thailand

ISBN: (纸本)9798350371215

This research project presents a novel online automation system designed to improve the effective administration of electrical equipment in the Faculty of Science and Technology at Rajamangala University of Technology Srivijaya. The system utilizes Internet of Things (IoT) technology to regulate electrical equipment and facilitate energy conservation, providing both automated and user-configurable control via a user-friendly interface. The research utilizes specialized hardware components, including Arduino microcontrollers and NodeMCU 8266 boards, to enable users to control the system using personalized schedules. This integration addresses the disparity between conventional electrical management practices and contemporary efficiency standards. The research findings demonstrate significant decreases in energy consumption and current overload, validating the system's favorable influence on energy efficiency and underscoring its potential for promoting energy conservation and cost reduction within the academic institution.

关键词： energy saving control electrical equipment measurement internet of things

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System Design and Kinematic Analysis of a Dexterous Hand with Humanoid Characteristics 6

System Design and Kinematic Analysis of a Dexterous Hand wit...

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6th World Robot Conference (WRC) / symposium on Advanced Robotics and automation (SARA)

作者： Liu, Linjie Sun, Ning Li, Ke Shandong Univ Sch Control Sci & Engn Ctr Intelligent Med Engn Jinan 250000 Peoples R China Sch Shandong Normal Univ Informat Sci & Engn Jinan Peoples R China

ISBN: (纸本)9798331506100

Most current prosthetic hands are costly, with low-degrees of freedom (DoF), limited range of motion, low flexibility, poor bionic performance. This study developed a low-cost, multiple DoFs, highly flexible, humanoid dexterous hand and introduced its mechanical structure, circuit system, and kinematic analysis. The mechanical structure of the dexterous hand was achieved by 3D printing using photopolymer resin. The circuit system was divided into two parts: the mainboard and the driver board. Additionally, kinematic analysis of the dexterous hand with the workspace of the fingertips was achieved using the Denavit-Hartenber parameter method. The digits achieved flexion/extension and adduction/abduction movements of 15 joints through a hybrid transmission of tendons and linkages. The circuit system enabled force feedback signal acquisition and drived 15 small DC geared motors. Kinematic analysis revealed that the fingertips of the dexterous hand have a large workspace. This new dexterous hand were of great practical significance for restoring hand function and improving the quality of life for amputees.

关键词： dexterous hand prosthetic hand circuit system kinematic analysis

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Why Fuzzy control Is Often More Robust (and Smoother): A Theoretical Explanation

Why Fuzzy Control Is Often More Robust (and Smoother): A The...

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2023 ieee symposium Series on computational intelligence, SSCI 2023

作者： Csiszar, Orsolya Csiszar, Gabor Kosheleva, Olga Ceberio, Martine Kreinovich, Vladik Research Center for Complex Systems Aalen University Germany Óbuda University Institute of Applied Mathematics John von Neumann Faculty of Informatics Hungary Óbuda University Biomatics and Applied Ai Institute John von Neumann Faculty of Informatics Hungary University of Texas at El Paso Department of Teacher Education El PasoTX United States University of Texas at El Paso Department of Computer Science El PasoTX United States

ISBN: (纸本)9781665430654

In many practical situations, practitioners use easier-to-compute fuzzy control to approximate the more-difficult-to-compute optimal control. As expected, for many characteristics, this approximate control is slightly worse than the optimal control it approximates. However, with respect to robustness or smoothness, the approximating fuzzy control is often better than the original one. In this paper, we provide a theoretical explanation for this somewhat mysterious empirical phenomenon. © 2023 ieee.

关键词： fuzzy control robust control smooth control

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Optimal Tracking control for Constrained Two-Link Robot Based on Adaptive Dynamic Programming 13

Optimal Tracking Control for Constrained Two-Link Robot Base...

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13th ieee Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Liao, Xin Wang, Kang Li, Xiaoli Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing100124 China

ISBN: (纸本)9798350361674

This paper introduces a novel state and input constrained optimal tracking control method to address limitations posed by only partially known robot system models and constrained physical variables, such as joint position, velocity, and torque during the control process. The method employs the slack function and nonquadratic function methods to effectively handle state error and input constraints, ensuring the overall stationarity and safety of the control process. Subsequently, the adaptive dynamic programming (ADP) algorithm is designed to formulate update laws for the approximating neural networks, enabling the derivation of optimal control solutions without relying on an internal dynamic model of the system. Finally, convergence and performance are validated through simulation experiments, confirming its efficacy in managing constraints and demonstrating its application perspectives in real-world scenarios. © 2024 ieee.

关键词： Robot programming

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A Distributed Multi-User Access control Middleware for Critical Applications

A Distributed Multi-User Access Control Middleware for Criti...

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2023 ieee symposium Series on computational intelligence, SSCI 2023

作者： Williams, Alexander Roy, Arunava Dasgupta, Dipankar Center for Information Assurance University of Memphis United States

ISBN: (纸本)9781665430654

We present a novel access control middleware for distributed multi-user review. The system uses a fuzzy inference system trained on real world access control rules to evaluate and select reviewers as an extension to a more traditional access control system. The method is intended for high security need specific requests, as a supplement to regular access control methods. In this way, it models a multi-person access system common in mechanical controls like missile launches, bank vault opening, and other high criticality domains. The proposed method improves security by increasing the number of compromised users needed to perform an attack, taking advantage of situational awareness of peer users in a system. We evaluate the proposed system with an example implementation based on a real-world organization, and show that the system can be used to effectively implement a secure resource access control system. Our work contributes to the growing body of research into fuzzy-logic access control, ML in access control, and multi-user authentication systems. © 2023 ieee.

关键词： Access control Fuzzy Systems Security

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A Super-Fast Satellite Selection Algorithm Based on Power Series Expansion

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ieee TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2024年第11期25卷 17421-17431页

作者： Liu, Liang Hu, Xiao Liu, Jianchang Jiang, Wei Wang, Honghai Liu, Yuanchao Shenyang Aerosp Univ Sch Automat Shenyang 110135 Peoples R China Int Digital Econ Acad Lower Airspace Econ Res Inst Shenzhen 510085 Peoples R China Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Peoples R China Beijing Jiaotong Univ Sch Elect & Informat Engn State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China Beijing Jiaotong Univ Beijing Engn Res Ctr EMC & GNSS Technol Rail Trans Beijing 100044 Peoples R China Northeastern Univ Natl Frontiers Sci Ctr Ind Intelligence & Syst Opt Shenyang Peoples R China

The evolution of multi-constellation Global Navigation Satellite Systems (GNSS) has presented an opportunity to enhance user positioning accuracy. However, practical constraints, such as limited receiver channels and power consumption, necessitate judicious satellite selection. Geometric Dilution of Precision (GDOP) serves as a critical indicator for optimizing positioning performance, but determining the subset with the optimal GDOP value involves solving an impractical combinatorial optimization problem. A compromise solution seeks to balance computational complexity while sacrificing some optimality. Consequently, finding an optimal combination of satellites with a low computational burden yet quasi-optimal GDOP value remains a challenge. In response to this challenge, we introduce a pioneering approach in this paper: a super-fast satellite selection algorithm based on power series expansion (SF-PSE). This paper derives a "Xiao-Liang formula" based on power series expansion and the Sherman-Morrison formula. Using this formula, we propose two low-computational-cost rapid iterative algorithms (F-PSE and SF-PSE). Among these algorithms, SF-PSE notably reduces the computational burden through an approximate iterative inverse matrix-guided search method. Experimental results demonstrate that satellite combinations identified by F-PSE and SF-PSE yield nearly the same accuracy while reducing computation time by 70% and 87%, respectively, compared to the SMALLER method.

关键词： Satellites Global navigation satellite system Receivers Vectors Accuracy Jacobian matrices Genetic algorithms Global navigation satellite system (GNSS) Xiao-Liang formula power series expansion (PSE) satellite selection

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2024 33rd International symposium on Industrial Electronics, ISIE 2024 - Proceedings

2024 33rd International Symposium on Industrial Electronics,...

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33rd International symposium on Industrial Electronics, ISIE 2024

ISBN: (纸本)9798350394085

The proceedings contain 158 papers. The topics discussed include: simulation on digital twin: role of artificial intelligence and emergence of industrial metaverse;a custom developed flexible tool for real-time distribution grid visualization;group spatial attention for 3D human pose estimation;variable frequency control strategy for transformers surge current reduction in DAB converters;enhancing traceability in flexible production system: a blockchain-powered approach in IEC 61499 multi-agent control system;enhancing robot teleoperation in remote automation production through an event-triggered control strategy;optimal multi-target navigation via graph-based algorithms in complex environments;control set reduction for PMSM predictive controller via assisted learning algorithm;and lightweight CPU-based face detection with efficient feature selector in real-time applications.

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