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Decentralized Optimal Tracking control of MRMs Under Health Indicator-Based Event-Triggered Mechanism 3rd

Decentralized Optimal Tracking Control of MRMs Under Health...

引用

3rd international conference on Machine Learning, Cloud computing and Intelligent Mining, MLCCIM 2024

作者： Ma, Bing Zhang, Hangwei Pan, Qiang An, Tianjiao Dong, Bo Li, Yuanchun Changchun University of Technology Changchun China

ISBN: (纸本)9789819616930

A novel event-based decentralized optimal control is designed to handle the modular robot manipulators (MRMs) with health indicator. Firstly, the dynamics of the MRMs is established. Secondly, the developed switching threshold event-triggered mechanism is proposed. Considering the optimal tracking control performance and health status of the system, an improved value function is proposed, which is composed of the system state, control law, fault observations and health state indexes. And the health status indexes are obtained from the health monitoring of the subsystem by utilizing event-triggered health indicator. Then, an event-based critic-only neural network neural dynamic programming (NDP) algorithm is utilized to implement the event-triggered approximate optimal controller design. Finally, the Lyapunov-based stability analysis demonstrates that the MRMs is uniformly ultimately bounded. And the experimental results show that the proposed method performs effectiveness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Modular robots

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Adaptive Overhead Glass Curtain Wall Cleaning Robot Design 24

Adaptive Overhead Glass Curtain Wall Cleaning Robot Design

引用

2024 international conference on Industrial Automation and Robotics, IAR 2024

作者： Jiang, Tao Chen, Huadong Yang, Zixi Zhou, Haolin School of Mechanical and Electrical Engineering Chengdu University of Technology Sichuan Chengdu China

ISBN: (纸本)9798400711268

In the rapid development of modern cities, glass curtain wall structures are widely used in many high-rise buildings and large-scale comprehensive transportation hubs, becoming an important means of beautifying architectural space and enhancing the city’s image. The beautification and cleaning of curved curved glass curtain wall has become the focus and difficulty of the world’s metropolis to rectify the city appearance. In this paper, an adaptive overhead glass curtain wall cleaning robot is innovatively designed, featuring self-adaptive wall surface, strong adsorption capacity, sewage recycling and purification, compact structure, long energy-saving and environmentally friendly single working time, etc. It can stably adsorb and travel on curved curved surfaces, and flexibly, quickly and stably complete the automatic cleaning operation of overhead glass curtain wall. This paper focuses on solving the problem of surface adaptability of cleaning brush head and adsorption marching, and provides an efficient sewage recycling and purification program, which provides ideas for green urban beautification and construction development, and has important social significance, engineering practical value of a wide range of market application prospects. Adaptive high altitude glass curtain wall cleaning robot is a kind of professional cleaning robot that integrally applies the results of many technologies such as intelligent control, mechanical design and material science, which is an extended application of wall climbing robot, and its basic composition includes the robot’s mechanical system and the control system, and this chapter will elaborate the overall design scheme and the design ideas of the robot based on the functions and principles of these two parts. © 2024 Copyright held by the owner/author(s).

关键词： Tall buildings

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Hardware Security in Evolving FinTech Landscape 5th

Hardware Security in Evolving FinTech Landscape

引用

5th international conference on computing and Network Communications, CoCoNet 2023

作者： Bhowmik, Biswajit Dongala, Joshitha Reddy Sudhama, Kruthika K. Antony, Reshma Tresa Girish, K.K. Maharshi Sushrut CAS Lab BRICS Laboratory Department of Computer Science and Engineering National Institute of Technology Karnataka Mangalore Surathkal575025 India

ISBN: (纸本)9789819745395

The assimilation of technology into the financial sector, often referred to as FinTech, has brought about a significant transformation. This shift has not only widened the scope of financial inclusivity but has also fundamentally reshaped the contours of financial solutions delivered. As FinTech solutions continue to empower individuals with greater control over their finances through mobile banking, digital wallets, and advanced data analytics, the security of these innovations becomes paramount. While software security has traditionally received more attention, this paper underscores the significance of hardware security, which serves as the foundational infrastructure for software security measures. It delves into the factors used to evaluate hardware security and outlines various categories of hardware attacks. A case study, focusing on point-of-sale (PoS) systems, exemplifies the importance of hardware security in FinTech. Ultimately, this research contributes to a comprehensive understanding of the evolving FinTech landscape and its implications for both financial inclusion and cybersecurity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Cybersecurity

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Employing Machine Learning to Drive Innovative Strategies for Enhanced Organizational Performance

Employing Machine Learning to Drive Innovative Strategies fo...

引用

2025 international conference on Intelligent control, computing and Communications, IC3 2025

作者： Gurulakshmi, A.B. Vybhavi, Gummgatta Yajaman Singh, Jay Prashant, Kumar Srinija, K. Jabbar, Fatimah Dhari Kansal, Lavish New Horizon College of Engineering Department of Electronics and Communication Engineering Bangalore India Grjet Department of Cse Telangana Hyderabad India Gl Bajaj Institute of Technology and Management Dept. of Eee U.P. Gr. Noida India Galgotias university Department of Electrical Electronics & Communication Engineering Uttar Pradesh Gerater Noida203201 India Mlr Institute of Technology Department of Computer Science and Engineering Telangana Hyderabad India College of Medical Technology The Islamic University Radiology Techniques Department Najaf Iraq Lovely Professional University Phagwara India

ISBN: (纸本)9798331527495

TalentForgeML is up against six other HR management methods that are thought to be the best in the business. People in business think these tactics are the best. Here are a few examples of these plans: the IntelliHire method and the ClassicScreen method. TalentForgeML is the name of the method that combines HR management with machine learning. The goal of this study is to investigate the methods so that we can better understand them. Our main goal is to come up with new ideas that will help our company run more efficiently. The Inclusive Workplace (IWP) program, the Competence Acquisition (PTA) method, and the Dynamic Skill Development (DSD) algorithm are thought to be three of the most important algorithms in TalentForgeML. © 2025 IEEE.

关键词： Human resource management

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On Minimum-Dispersion control of Nonlinear Diffusion Processes 16th

On Minimum-Dispersion Control of Nonlinear Diffusion Proces...

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16th APCA international conference on automatic control and Soft computing, controlO 2024

作者： Chertovskih, Roman Pogodaev, Nikolay Staritsyn, Maxim Aguiar, A. Pedro ARISE Department of Electrical and Computer Engineering Faculdade de Engenharia Universidade do Porto Rua Dr. Roberto Frias Portos/n 4200-465 Portugal University of Padova Via Trieste Padova63-35121 Italy

ISBN: (纸本)9783031817236

This work collects some methodological insights for numerical solution of a "minimum-dispersion" control problem for nonlinear stochastic differential equations, a particular relaxation of the covariance steering task. The main ingredient of our approach is the theoretical foundation called ∞-order variational analysis. This framework consists in establishing an exact representation of the increment (∞-order variation) of the objective functional using the duality, implied by the transformation of the nonlinear stochastic control problem to a linear deterministic control of the Fokker-Planck equation. The resulting formula for the cost increment analytically represents a "law-feedback" control for the diffusion process. This control mechanism enables us to learn time-dependent coefficients for a predefined Markovian control structure using Monte Carlo simulations with a modest population of samples. Numerical experiments prove the vitality of our approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Stochastic control systems

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Dual-Population-Iterating and Preys-Gathering MPA for XGBoost Optimization 16th

Dual-Population-Iterating and Preys-Gathering MPA for XGBoos...

引用

16th international conference on Genetic and Evolutionary computing, ICGEC 2024

作者： Li, Jiacheng Lv, Li Kang, Ping Tian, Xiumei School of Information Engineering Nanchang Institute of Technology Nanchang330099 China Nanchang Key Laboratory of IoT Perception and Collaborative Computing for Smart City Nanchang Institute of Technology Nanchang330099 China

ISBN: (纸本)9789819615308

The marine predator algorithm (MPA) often struggles with issues such as low population diversity, susceptibility to local optima, and population aggregation when optimizing XGBoost, which is sensitive to numerous parameters. To address these challenges, we propose the dual-population-iterating and prey-gathering marine predator algorithm (DPGMPA) and apply it to XGBoost parameter optimization. Initially, we utilize a dual-population-iterating strategy to create the original population and an opposition-based learning population. Brownian motion and Laplace distribution respectively control the step size to guide population updates toward the global optimum, enhancing population diversity. Subsequently, the preys-gathering strategy is employed, selecting prey with the highest accuracy in each iteration and having neighboring preys converge towards them to mitigate local optima. Furthermore, we optimize the Fish Aggregating Devices (FADs) by introducing variable weight control, addressing the population aggregation issue. To validate the parameter optimization capability of this algorithm for XGBoost, we conducted experiments on six datasets, using accuracy and F1 score as evaluation metrics, and compared the results with five other algorithms. The experimental results demonstrate that the DPGMPA algorithm more effectively escapes local optima when optimizing the XGBoost classifier, significantly improving XGBoost's classification performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Laplace distribution Marine Predator Algorithm normal distribution parameter optimization population diversity XGBoost

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Cow’s Back Surface Segmentation of Point-Cloud Image Using PointNet++ for Individual Identification 16th

Cow’s Back Surface Segmentation of Point-Cloud Image Using ...

引用

16th international conference on Genetic and Evolutionary computing, ICGEC 2024

作者： Kyaw, Pyae Phyo Tin, Pyke Aikawa, Masaru Kobayashi, Ikuo Zin, Thi Thi Graduate School of Engineering Miyazaki Japan Organization for Learning and Student Development Miyazaki Japan Sumiyoshi Livestock Science Station Field Science Center Faculty of Agriculture University of Miyazaki 1-1 Gakuen Kibanadai-Nishi Miyazaki889-2192 Japan

ISBN: (纸本)9789819615308

An automatic cow health monitoring and management system cannot function effectively without an identification system in livestock farming. While 2D image-based computer vision currently achieves high accuracy in cow identification, its effectiveness can be significantly decreased by changes in lighting, environmental factors, and other limitations. To address these limitations, an identification system based on point-cloud images will be developed by using a combination of 3D TOF camera and 2D RGB camera. This system includes detection and segmentation stage, feature extraction stage, and identification stage. In this study, I focus on detecting and segmenting of cow back surface region from a point-cloud image using the PointNet+ + algorithm. Two segmentation models are trained and compared based on single-scale grouping (SSG) and multi-scale grouping (MSG) features. The extracted cow back surface region offers a rich set of features valuable for several applications, including individual cow identification, lameness detection, and body condition scoring. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Image segmentation

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FPGA-based Real-Time High-resolution Image Processing for rocket on-board processing 17

FPGA-based Real-Time High-resolution Image Processing for ro...

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17th IEEE international conference on Computer Research and Development, ICCRD 2025

作者： Zhou, Hui Wang, Xiaofeng Xie, Yujia Cao, Yongxiang Tang, Yu Huo, Yongchun Wen, Huan Zhao, Xiongbo Li, Chaoran National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing Aerospace Automatic Control Institute Beijing China Beihang University Computer Science and Engineering Beijing China Beihang University National Superior College for Engineers Beijing China

ISBN: (纸本)9798331531881

The structure of the rocket-borne model is inherently complex, with processed images exhibiting high resolution and generating substantial amounts of data and calculations. Achieving robust real-Time computing on an embedded platform poses significant challenges due to strictly limited resources, power consumption constraints, and size limitations. Our review of rocket-borne applications reveals considerable variability in the design resources of different devices, indicating a need for expanded design approaches. Upon evaluating existing methods, we identified two primary drawbacks. First, certain operators within the high-resolution target detection model are difficult to parallelize, resulting in significant inference delays that hinder the ability to meet task requirements. Although existing methods have been extended, there remains significant potential for performance enhancement in core scheduling for poor acceleration. This paper proposes an optimized architecture for the target detection algorithm accelerator designed for high-resolution images, along with a novel highly parallel data pre-processing and post-processing module implemented on FPGA to address these issues. Compared to the ARM implementation, this architecture demonstrates an improved performance of 24.64x. Furthermore, to ensure flexible application across various rocket launch scenarios, we introduce an optimization structure for convolution, pooling, and fusion operators and a multi-core expansion optimization method. This approach yields a 1.29x improvement in computing unit utilization compared to state-of-The-Art multi-core scaling efforts. Finally, we assessed the accelerator architecture across multiple FPGA platforms, achieving a peak processing element utilization rate of 99.71% for a single core and layer. The overall computing efficiency, excluding the first layer, exceeded 90%. The peak computing power for the four cores reached 1638.4 GOPS, and the end-To-end computation time for

关键词： Image enhancement

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Based on PPO Reinforcement Learning for Ship Berthing and Departure control

Based on PPO Reinforcement Learning for Ship Berthing and De...

引用

international conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Zhou, Ziyan Ma, Feng Zhou, Xuan Intelligent Transportation System Center Wuhan University of Technology Wuhan China State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology Wuhan China Henan Transport Investment Group Co. LTD. Zhengzhou China

ISBN: (纸本)9789819639564

A control method based on proximal policy optimisation (PPO) algorithm is proposed to control autonomous berthing of unmanned vessels. Firstly, Bessel curves are used to generate the desired path, and the heading error, speed error, and lateral error are obtained by calculating with the current state of the ship, and then these errors are used as inputs to establish the reward function mechanism, and then the state of the ship and the reward obtained are inputted into the PPO algorithm so that the intelligent body can take behaviours according to the state and the reward, and finally, the actions of the intelligent body are inputted into the ship model to achieve bi-variable control of the ship’s rudder angle and thrust. Finally, the actions of the intelligent body are inputted into the ship model to achieve the bivariate control of the rudder angle and thrust. The experimental results show the effectiveness of PPO reinforcement learning in the automatic berthing process of unmanned vessels with low speed, interference and low rudder efficiency. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Reinforcement learning

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Identification of the Region of Attraction of Synchronous Machines and Grid-Following Converters Through Reverse Trajectories

Identification of the Region of Attraction of Synchronous Ma...

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international conference of the TC Electrimacs Committee, ELECTRIMACS 2024

作者： Carreño, Miguel Song, Jie Gomis-Bellmunt, Oriol Griñó, Robert CITCEA – Universitat Politècnica de Catalunya Barcelona Spain Institute of Industrial and Control Engineering Department of Automatic Control Universitat Politècnica de Catalunya Barcelona Spain

ISBN: (纸本)9783031739200

Synchronous machines and grid-following converters exhibit nonlinear second-order differential equations that rule their synchronization dynamics. Furthermore, the attraction exerted by the stable equilibrium points is limited to a certain region of attraction. In small networks, where a single generator is connected to an infinite bus, the region of attraction is bounded by curves, and can be plotted in a plane. Hence, this paper presents a simplified version of the reverse trajectory method for identifying the region of attraction of an equilibrium point. The selection of the initial conditions is backed with physical arguments, and the performance of the method is tested with different parameters. A three-phase short circuit is also tested to verify the consistency of the boundaries obtained with this technique. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Synchronous machinery

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